MR-J3 Servomotors and Amplifiers

Transcription

1 MR-J3 Servomotors and Amplifiers With a capacity range of 5W to 55kW, we reduced the size of both the amplifier and motor, added a high resolution encoder and advanced auto-tuning and vibration control. The J3 s high torque motor can operate at up to 6 rpm, and with a speed frequency response of 9 Hz. Twenty percent smaller than its predecessor, the J3 s high resolution 262,144ppr encoder is mounted as standard to provide stability even at low speeds. Mitsubishi Electric Automation s original model adaptive control and ever-evolving automatic tuning function makes precise tuning easy and the J3 s advanced vibration control suppresses vibrations automatically. Set-up, diagnostics, and tuning are easy, thanks to MR-Configurator, a Windows -based software package. MR-Configurator has many improved diagnostic functions, such as an advanced machine analyzer, software oscilloscope, and high speed monitor. A parameter setting window makes start-up easy, and a USB interface enables high-speed sampling and long-term wavelength measurement. The MR-J3 supports the following control methods: Position, Speed, Torque, SSCNET III Network, CC-Link and RS-485 Multi Drop. MR-J3-A MR-J3-B MR-J3-T MR-J3-B-RJ FOR AN OPERATIONAL SYSTEM, SELECT: 1. Amplifier 4. Cables and Connectors 2. Motor 5. Software and Manuals 3. Converter (Required for 3KW ~ 55KW 2/4V amplifiers) 6. Optional Accessories Mitsubishi Electric Automation Servomotors and Amplifiers 19

2 SERVOMOTORS AND AMPLIFIERS MR-J3 Amplifier Types A-Type Type General Purpose Interface Pulse Train Analog DIO Interface SSCNET III RS-422 Multi-Drop CC-Link Position Speed Control Mode Torque Position Functions Fully Closed Loop Control Setup Software Model MR-J3- A MR-J3- A1 Power 3-Phase AC 2V 1-Phase AC 1V Source Capacity (*1) HF-KP Compatible Motor Series HF-MP HF-SP HC-LP HC-RP HC-UP HA-LP.5 ~37kW.5 ~.4kW MR-J3- A4 3-Phase AC 4V.6 ~55kW Advanced Serial Bus SSCNET III MR-J3 B 3-Phase AC 2V.5 ~37kW MR-J3- B1 1-Phase AC 1V.5 ~.4kW MR-J3- B4 3-Phase AC 4V.6 ~55kW B-Type Fully Closed Loop Advanced Serial Bus SSCNETIII MR-J3- B- RJ6 3-Phase AC 2V.5 ~22kW MR-J3- B1- RJ6 1-Phase AC 1V.5 ~.4kW MR-J3- B4- RJ6 3-Phase AC 4V.6 ~22kW Built-In CC-Link Positioning Function MR-J3- T 3-Phase AC 2V.5 ~22kW T-Type (*2) (*3) MR-J3- T1 1-Phase AC 1V.5 ~.4kW MR-J3- T4 3-Phase AC 4V.6 ~22kW 1. Capacity selection software MSIZE (MRZJW3-MOTSZ111) can be downloaded for free from 2. Please use the manual pulse generator (MR-HDP1). 3. Please use the extended IO unit (MR-J3-D1). 11

3 MR-J3 Motor Types Small Capacity Series Motor Series HF-KP Rated Speed (Maximum Speed) r/min 3 (6) Rated Output (kw) 5 Types (2V).5,.1,.2,.4,.75 Electromagnetic Brake Available EN Standards UL/cUL Protective Degree IP65 (*2) Features Low inertia Perfect for general industrial machines High velocity motors, 6 or 1r/min, have been prepared. Application Examples Belt drive Robots Mounters Sewing machines X-Y tables Food processing machines Semiconductor manufacturing devices Knitting and embroidery machines HF-MP Ultra-low inertia Well suited for high frequency operation. Inserters Mounters Medium Capacity Series HF-SP HC-LP 1 (15) 2 (3) 2 (3) 6 Types (2V).5,.85, 1.2, 2., 3., Types (2V).5, 1., 1.5, 2., 3.5, 5., 7. 7 Types (4V).5, 1., 1.5, 2., 3.5, 5., 7. 5 Types (2V).5, 1., 1.5, 2., 3. IP67 (*2) IP67 (*2) Medium inertia Suitable for variable applications three models from low to high-speed are available. IP65 (*2) Low inertia Perfect for general industrial machines. Conveyor machines Robots X-Y tables Roller feeder Loader and unloader High frequency conveyer machines HC-RP 3 (45) 5 Types (2V) 1., 1.5, 2., 3.5, 5. IP65 (*2) Ultra-low inertia Well suited for high-frequency Ultra-high-frequency conveyor machines HC-UP Flat, Small/ Medium Capacity Series Medium/ Large Capacity Series HA-LP 2 (3:.75 ~ 2kW 25: 3.5, 5kW) 1 (12) 15 (2) 2 (2) 5 Types (2V).75, 1.5, 2., 3.5, 5. 8 Types (2V) 6., 8., 12, 15, 2, 25, 3, 37 8 Types (4V) 6., 8., 12, 15, 2, 25, 3, 37 6 Types (2V) 7., 11, 15, 22, 3, 37 8 Types (4V) 7., 11, 15, 22, 3, 37, 45, 5 7 Types (2V) 5., 7., 11, 15, 22, 3, 37 7 Types (4V) 11, 15, 22, 3, 37, 45, 55 IP65 (*2) (6. ~12kW Only) (7. ~15kW Only) (11 ~22kW Only) IP44 (*2) IP44 (*2) IP44 (HA-LP 52/72=IP65) (*2) Flat Type The flat design makes this unit well suited for situations where the installation space is restricted. Low inertia Suitable for variable applications three models from low to medium-speed are available. As a standard, 3kW and larger capacities are compatible with flange mounting or foot mounting. Robots Food processing machines Injection molding machines Semiconductor manufacturing devices Large conveyor machines 1. indicates the available product range. 2. The shaft-through portion is excluded. Mitsubishi Electric Automation Servomotors and Amplifiers 111

4 SERVOMOTORS AND AMPLIFIERS Servo Amplifier Selection 1V/2V Amplifier Selection: MR-J3- - Mitsubishi General Purpose AC Servo Amplifier A: General Purpose Interface B: SSCNET III Interface T: CC-Link Interface (Example Part No. = MR-J3-1B-RJ6) Symbol None Power Supply Standard J3 Amplifier RJ6 Fully Closed Loop Control (*1) 1. Available on MR-J3-B type amplifiers only. Symbol Power Supply None 3-phase 2VAC or 1-phase 23VAC (*1) 1 1-phase 1VAC (*2) 1. The 1-phase 2VAC is available on MR-J3-7 or smaller. 2. The 1-phase 1VAC is available on MR-J3-4 or smaller. Stocked Amplifiers Model Number MR-J3-1A1 MR-J3-2A1 MR-J3-4A1 MR-J3-1A MR-J3-2A MR-J3-4A MR-J3-6A MR-J3-7A MR-J3-1A MR-J3-2A MR-J3-35A MR-J3-5A MR-J3-7A Model Number MR-J3-1B1 MR-J3-2B1 MR-J3-4B1 MR-J3-1B MR-J3-2B MR-J3-4B MR-J3-6B MR-J3-7B MR-J3-1B MR-J3-2B MR-J3-35B MR-J3-5B MR-J3-7B Model Number MR-J3-4B-RJ6 MR-J3-6B-RJ6 MR-J3-7B-RJ6 MR-J3-1B-RJ6 MR-J3-2B-RJ6 MR-J3-35B-RJ6 MR-J3-1T1 MR-J3-2T1 MR-J3-4T1 MR-J3-1T MR-J3-2T MR-J3-4T MR-J3-6T MR-J3-7T MR-J3-1T MR-J3-2T MR-J3-35T MR-J3-5T MR-J3-7T Symbol Compatible Motors HF-KP HF-MP HF-SP HC-LP HC-RP HC-UP HA-LP 1 53, 13 53, , , , 21, 152, , , , , , , 71M, 72 11K 81, 12K1, 11K1M, 11K2 15K 15K1, 15K1M, 15K2 22K 2K1, 25K1, 22K1M, 22K2 DU3K (*1,*2) 3K1, 3K1M, 3K2 DU37K (*1, *2) 37K1, 37K1M, 37K2 1. Converter Unit MR-J3-CR55K is required for 3kW and 37kW amplifiers. 2. Available for MR-J3-A and B types only. 4V Amplifier Selection: MR-J3-4 - Mitsubishi General Purpose AC Servo Amplifier 4VAC Amplifier A: General Purpose Interface B: SSCNET III Interface T: CC-Link Interface (Example Part No. = MR-J3-6A4) Symbol Power Supply None Standard J3 Amplifier RJ6 Fully Closed Loop Control (*1) 1. Available on 6kW~22kW MR-J3-B amplifiers only. Stocked Amplifiers Model Number MR-J3-6A4 MR-J3-1A4 MR-J3-2A4 MR-J3-35A4 MR-J3-5A4 MR-J3-7A4 MR-J3-11KA4 MR-J3-15KA4 MR-J3-22KA4 Model Number MR-J3-6B4 MR-J3-1B4 MR-J3-2B4 MR-J3-35B4 MR-J3-5B4 MR-J3-7B4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4 Model Number MR-J3-6B4-RJ6 MR-J3-1B4-RJ6 MR-J3-2B4-RJ6 MR-J3-35B4-RJ6 MR-J3-5B4-RJ6 MR-J3-7B4-RJ6 112 Symbol Compatible Motors HF-SP HA-LP , , K 814, 12K14, 11K1M4, 11K24 15K 15K14, 15K1M4, 15K24 22K 2K14, 22K1M4, 22K24 DU3K (*1,*2) 25K14, 3K14, 3K1M4, 3K24 DU37K (*1,*2) 37K14, 37K1M4, 37K24 DU45K (*1,*2) 45K1M4, 45K24 DU55K (*1,*2) 5K1M4, 55K24 1. Converter Unit MR-J3-CR55K4 is required for 3kW to 55kW amplifiers. 2. Available for the MR-J3-A and B types only.

5 Servomotor Selection 2V Motor Selection: (Example Part# = HF-SP12BK) Symbol Shaft Shape H - P- Symbol HF-KP HF-MP HF-SP HC-LP HC-RP Ultra-low inertia, small capacity Low inertia, small capacity Medium inertia, medium capacity Low inertia, medium capacity Ultra-low inertia, medium capacity Motor Series None Standard (Straight) K With Keyway (*1) D D-Cut (*1) Note: 1. Refer to Motor Shaft Detail in this section for compatible models and specifications. Symbol Oil Seal None None J Oil Seal Installed (*1, *2) Note: 1. Dimensions for HF-KP/MP motors with oil seals are different than standard models. Contact Mitsubishi for details. 2. Oil-Seal not available for the.5kw motors. Symbol None B Electromagnetic Brake None With Brake Symbol Rated Speed (r/min) 1 1 (*1) 1M 15 (*1) 2 2 (*1) 3 3 (*1) Note: 1. Refer to motor specifications in this catalog for correct symbol to use for each servo motor. Stocked Motors Model Number HF-KP53 HF-KP53B HF-KP13 HF-KP13B HF-KP13D HF-KP23 HF-KP23BK HF-KP23K HF-KP43BK HF-KP43K HF-KP73BK HF-KP73K HF-MP53 HF-MP53B HF-MP13 HF-MP13B HF-MP23BK HF-MP23K HF-MP43BK HF-MP43K HF-MP73BK HF-MP73K HF-SP51K HF-SP51BK HF-SP12BK HF-SP12K Model Number HF-SP121BK HF-SP121K HF-SP152BK HF-SP152K HF-SP22BK HF-SP22K HF-SP352BK HF-SP352K HF-SP52BK HF-SP52K HF-SP52BK HF-SP52K HF-SP72BK HF-SP72K HF-SP81BK HF-SP81K HC-RP13BK HC-RP13K HC-RP153BK HC-RP153K HC-RP23BK HC-RP23K HC-RP353BK HC-RP353K HC-RP53BK HC-RP53K HC-UP HA-LP Flat type Small/medium capacity Low inertia Medium/large capacity Symbol Rated Output (kw) to 8.1 to.85 1 to 8 1. to 8. 11K to 37K 11. to 37. 4V Motor Selection: H - P- 4 Symbol HF-SP HA-LP 4 VAC (Example Part# = HF-SP524BK) Motor Series Ultra-low inertia, small capacity Low inertia, small capacity Symbol None Shaft Shape Standard (Straight) K With Keyway (*1) Note: 1. Refer to Motor Shaft Detail in this section for compatible models and specifications. Symbol None B Electromagnetic Brake None With Brake Symbol Rated Speed (r/min) 1 1 (*1) 1M 15 (*1) 2 2 (*1) Note: 1. Refer to motor specifications in this catalog for correct symbol to use for each servo motor. Symbol Rated Output (kw) to 8 1. to 8. 11K to 55K 11. to 55. Note: 1. Refer to motor specifications in this catalog for correct symbol to use for each servo motor. Stocked Motors Model Number HF-SP524K HF-SP124K HF-SP1524K HF-SP224K HF-SP3524K HF-SP524K HF-SP724K HF-SP524BK HF-SP124BK HF-SP1524BK HF-SP224BK HF-SP3524BK HF-SP524BK HF-SP724BK HA-LP11K24K HA-LP15K24K HA-LP22K24K HA-LP11K24BK HA-LP15K24BK HA-LP22K24BK Mitsubishi Electric Automation Servomotors and Amplifiers 113

6 SERVOMOTORS AND AMPLIFIERS MR-J3-A 1/2V Servo Amplifier Specifications Item Servo Amplifier MR-J3-1A 2A 4A 6A 7A 1A 2A 35A 5 A 7 A 11KA 15KA 22KA 1A1 2A1 4A1 Voltage/Frequency 3-phase 2 to 23VAC, 5/6Hz or 1-phase 1V to 12VAC, 3-phase 2 to 23VAC, 5/6Hz 1-phase 23VAC, 5/6Hz 5/6Hz Permissible Voltage 3-phase 2 to 23VAC: 17 to 253VAC 3-phase 17 to 253VAC 1-phase 85 to 132VAC Power Fluctuation 1-phase 23VAC: 27 to 253VAC Supply Permissible Frequency Within ±5% Fluctuation Power Supply Capacity Refer to MR-J3-A Instruction Manual (Section 11) Inrush Current Refer to MR-J3-A Instruction Manual (Section 11) Voltage, Frequency 1-phase 2 to 23VAC, 5/6Hz 1-phase 1 to 12VAC, 5/6Hz Control Permissible Voltage 1-phase 17 to 253VAC 1-phase 85 to 132VAC Circuit Fluctuation Power Permissible Frequency Within ±5% Supply Fluctuation Input 3W 45W 3W Inrush Current Refer to MR-J3-A Instruction Manual (Section 11) Interface Voltage, Frequency DC24V ±1% Power Supply Power Supply Capacity 3 ma or more (*1) Control System Sine-wave PWM control, current control system Dynamic Brake Built-in Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, Protective Functions encoder error protection, regenerative brake error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection Max. Input Pulse Frequency 1Mpps (for differential receiver), 2kpps (for open collector) Position Control Mode Speed Control Mode Torque Control Mode Command Pulse Multiplying Factor In-Position Range Setting Electronic gear A:1 to , B:1 to , 1/1 <A/B <2 to ±1 pulse (command pulse unit) Error Excessive ±3 revolutions Torque Limit Set by parameter setting or external analog input ( to 1VDC/maximum torque) Speed Control Range Analog speed command 1: 2, internal speed command 1: 5 Analog Speed Command Input to 1VDC / Rated speed Speed Fluctuation Ratio ±.1% or less (load fluctuation to 1%) % or less (power fluctuation ±1%) ±.2% max.(ambient temperature 25 ±1 C) for external speed setting only Torque Limit Set by parameter setting or external analog input ( to 1VDC/maximum torque) Analog Torque Command Input to ±8VDC / Maximum torque (input impedance 1 to 12Ω) Speed Limit Set by parameter setting or external analog input ( to 1VDC/Rated speed) Structure Self-cooled, open (IP) Force-cooled, open (IP) Self-cooled, open (IP) During C to +55 (non-freezing) (*2) Ambient Operation F +32 to +131 (non-freezing) Temp. C -2 to +65 In Storage F -4 to +149 In Operation In Storage 9%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1m (328ft) above sea level Vibration 5.9 [m/s 2 ] or less 19.4 [ft/s 2 ] or less Mass [kg] [lb] mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. 2. When mounting the servo amplifiers closely, operate them at the ambient temperatures of to 45 C or at 75% or a smaller effective load ratio. 114

7 MR-J3-A 2V 3K~37K Servo Amplifier Specifications Drive Unit Model MR-J3-DU3KA MR-J3-DU37KA Converter Unit Model MR-J3-CR55K Voltage / Frequency (*1) Main Circuit Power Supply Permissible Voltage Fluctuation Permissible Frequency Fluctuation The drive unit s main circuit power is supplied by the converter unit. Voltage / Frequency 1-phase 2 to 23VAC 5/6Hz Control Circuit Power Permissible Voltage Fluctuation 1-phase 17 to 253VAC Supply Permissible Frequency Fluctuation ±5% maximum Power Consumption (W) 45 Interface Power Supply 24VDC ±1% (required current capacity: 3mA (*3)) Control System Sine-wave PWM control / current control system Dynamic Brake Safety Features Structure External option Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), servo motor overheat protection, encoder fault protection, regeneration fault protection,undervoltage / sudden power outage protection, overspeed protection, excess error protection Fan cooling open (IP) to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Environment Elevation 1m or less above sea level Vibration 5.9m/s 2 maximum Mass kg (lb) 26 (57) MR-J3-CR55K 2V Servo Converter Specifications Converter Unit Model MR-J3-CR55K Drive Unit Model MR-J3-DU3KA MR-J3-DU37KA Voltage / Frequency (*1, *2) 3-phase 2 to 23VAC 5/6Hz Main Circuit Power Permissible voltage Fluctuation 3-phase 17 to 253VAC Supply Permissible Frequency Fluctuation ±5% maximum Voltage / Frequency 1-phase 2 to 23VAC 5/6Hz Control Circuit Permissible Voltage Fluctuation 1-phase 17 to 253VAC Power Supply Permissible Frequency Fluctuation ±5% maximum Power Consumption (W) 45 Interface Power Supply 24VDC ±1% (required current capacity: 13mA (*3)) Regenerative Resistor/ Tolerable Regenerative Power (W) Optional Regeneration Unit MR-RB MR-RB Safety Features Regeneration overvoltage shutdown, overload shutdown (electronic thermal), regeneration fault protection, undervoltage / sudden power outage protection Structure Fan cooling open (IP) to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Environment Elevation 1m or less above sea level Vibration 5.9m/s 2 maximum Mass kg (lb) 25 (55) 1. Rated output and rated speed of the servo motor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed. The torque drops when the power supply voltage is less than specified. 2. For torque characteristics when combined with a servo motor, refer to the Servo Motor Torque characteristics on the servo motor specifications pages. 3. The interface power supply can be shared with the drive unit and converter unit. When all of the input/output points are used, 3mA is required for the drive unit and 13mA is required for the converter unit. The current capacity can be stepped down according to the number of input/output points in use. Mitsubishi Electric Automation Servomotors and Amplifiers 115

8 SERVOMOTORS AND AMPLIFIERS MR-J3-A 4V Servo Amplifier Specifications Drive Unit Model MR-J3-6A4 1A4 2A4 35A4 5A4 7A4 11KA4 15KA4 22KA4 Voltage / Frequency (*1, *2) 3-phase 38 to 48VAC 5/6Hz Main Circuit Permissible Voltage Fluctuation 3-phase 323 to 528VAC Power Supply Permissible Frequency Fluctuation ±5% maximum Voltage / Frequency 1-phase 38 to 48VAC 5/6Hz Control Circuit Permissible Voltage Fluctuation 1-phase 323 to 528VAC Power Supply Permissible Frequency Fluctuation ±5% maximum Power Consumption (W) 3 45 Interface Power Supply 24VDC ±1% (required current capacity: 3mA (*3)) Regenerative Resistor/ Tolerable Regenerative Power (W) (*4) Resistor Built-In To Amplifier External Regeneration Unit Included (*5) 5 (8) 85 (13) 85 (13) Control System Sine-wave PWM control / current control system Dynamic Brake Built-in (*6) External option Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), Safety Features servo motor overheat protection, encoder fault protection, regeneration fault protection, undervoltage / sudden power outage protection, overspeed protection, excess error protection Maximum Input Pulse Frequency Positioning Feedback Pulse 1Mpps (when using differential receiver), 2kpps (when using open collector) Resolution per encoder/servo motor rotation: p/rev Position Control Mode Command Pulse Multiple Electronic gear A/B multiple, A: 1 to , B: 1 to /1 < A/B < 2 Positioning Complete Width Setting to ±1 pulses (command pulse unit) Excess Error Torque Limit ±3 rotations Set by parameters or external analog input ( to +1VDC/maximum torque) Speed Control Range Analog speed command 1:2, internal speed command 1:5 Speed Control Mode Torque Control Mode Analog Speed Command Input Speed Fluctuation Rate Torque Limit Analog Torque Command Input Speed Limit to ±1VDC / rated speed (possible to change the speed in 1V using the parameter No. PC12.) ±.1% maximum (load fluctuation to 1%), % (power fluctuation ±1%), ±.2% maximum (ambient temperature 25 C ±1 C (77 F ±5 F)), when using analog speed command Set by parameters or external analog input ( to +1VDC / maximum torque) to ±8VDC / maximum torque (input impedance 1 to 12kΩ) Set by parameters or external analog input ( to ±1VDC/rated speed) Structure Self cooling open (IP) Fan cooling open (IP) Environment Elevation Vibration to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) 1m or less above sea level 5.9m/s 2 maximum Mass kg (lb) 1.7 (3.75) 1.7 (3.75) 2.1 (4.63) 2.1 (4.63) 4.6 (1.14) 6.2 (13.67) 18 (39.68) 18 (39.68) 19 (41.88) 1. Rated output and rated speed of the servo motor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed. The torque drops when the power supply voltage is less than specified. 2. For torque characteristics when combined with a servo motor, refer to the Servo Motor Torque characteristics on the servo motor specifications pages. 3. 3mA is the value when all of the input/output points are used. The current capacity can be stepped down according to the number of input/output points in use. refer to the Servo Amplifier Instruction Manual for details. 4. Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software. 5. Number in ( ) is with installing an external cooling fan (1.m 3 /min, approx. 92) and change parameter PA2. 6. When using amplifiers 5kW and 7kW and it the speed exceeds 2r/min, please use the built-in dynamic brake and calculate inertia ratio as 5 times or less. 116

9 MR-J3-A 4V 3K~55K Servo Amplifier Specifications Drive Unit Model MR-J3-DU3KA4 MR-J3-DU37KA4 MR-J3-DU45KA4 MR-J3-DU55KA4 Converter Unit Model MR-J3-CR55K4 Main Circuit Power Supply Voltage / Frequency (*1) Permissible Voltage Fluctuation Permissible Frequency Fluctuation Voltage / Frequency The drive unit s main circuit power is supplied by the converter unit. 1-phase 38 to 48VAC 5/6Hz Control Circuit Power Supply Permissible Voltage Fluctuation Permissible Frequency Fluctuation 1-phase 323 to 528VAC ±5% maximum Power Consumption (W) 45 Interface Power Supply 24VDC ±1% (required current capacity: 3mA (*3)) Control System Dynamic Brake Safety Features Structure Sine-wave PWM control / current control system External option Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), servo motor overheat protection, encoder fault protection, regeneration fault protection, undervoltage / sudden power outage protection, overspeed protection, excess error protection Fan cooling open (IP) to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Environment Elevation 1m or less above sea level Vibration 5.9m/s 2 maximum Mass kg (lb) 18 (4) 26 (57) MR-J3-CR55K4 4V Servo Converter Specifications Converter Unit Model MR-J3-CR55K4 Drive Unit Model MR-J3-DU3KA4 MR-J3-DU37KA4 MR-J3-DU45KA4 MR-J3-DU55KA4 Main Circuit Power Supply Control Circuit Power Supply Voltage / Frequency (*1, *2) Permissible Voltage Fluctuation Permissible Frequency Fluctuation Voltage / Frequency Permissible Voltage Fluctuation Permissible Frequency Fluctuation 3-phase 38 to 48VAC 5/6Hz 3-phase 323 to 528VAC ±5% maximum 1-phase 38 to 48VAC 5/6Hz 1-phase 323 to 528VAC ±5% maximum Power Consumption (W) 45 Interface Power Supply 24VDC ±1% (required current capacity: 13mA (*3)) Regenerative Resistor/ Tolerable Regenerative Power (W) Safety Features Optional Regeneration Unit MR-RB MR-RB Regeneration overvoltage shutdown overload shutdown (electronic thermal), regeneration fault protection,undervoltage / sudden power outage protection Structure Fan cooling open (IP) Environment Elevation Vibration to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) 1m or less above sea level 5.9m/s 2 maximum Mass kg (lb) 25 (55) 1. Rated output and rated speed of the servo motor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed. The torque drops when the power supply voltage is less than specified. 2. For torque characteristics when combined with a servo motor, refer to the Servo Motor Torque characteristics on the servo motor specifications pages. 3. The interface power supply can be shared with the drive unit and converter unit. When all of the input/output points are used, 3mA is required for the drive unit and 13mA is required for the converter unit. The current capacity can be stepped down according to the number of input/output points in use. Mitsubishi Electric Automation Servomotors and Amplifiers 117

10 SERVOMOTORS AND AMPLIFIERS MR-J3-B & MR-J3-B-RJ6 1V/2V Servo Amplifier Specifications Drive Unit Model MR-J3- & MR-J3- -RJ6 1B 2B 4B 6B 7B 1B 2B 35B 5B 7B 11KB 15KB 22KB 1B1 2B1 4B1 Main Circuit Power Supply Control Circuit Power Supply Voltage / Frequency (*1, *2) Permissible Voltage Fluctuation 3-phase 2 to 23VAC 5/6Hz 1-phase 2 to 23VAC 5/6Hz For 3-phase 2 to 23VAC: 3-phase 17 to 253VAC For 1-phase 2 to 23VAC: 1-phase 17 to 253VAC 3-phase 2 to 23VAC 5/6Hz 3-phase 17 to 253VAC 1-phase1 to 12VAC 5/6Hz 1-phase 85 to 132VAC Permissible Frequency Fluctuation ±5% maximum Voltage / Frequency 1-phase 2 to 23VAC 5/6Hz 1-phase1 to 12 VAC 5/6Hz Permissible Voltage Fluctuation 1-phase 17 to 253VAC 1-phase 85 to 132VAC Permissible Frequency Fluctuation ±5% maximum Power Consumption (W) Interface Power Supply 24VDC ±1% (required current capacity: 15mA (*3)) Serial Interface Mitsubishi high-speed serial communication Load Side Encoder Interface Input Signal ABZ phase differential input signal Pulse Train (RJ6 ONLY) Interface Minimum Phase 2ns Difference Regenerative Resistor/Tolerable Regenerative Power (W) (*4) Control System Resistor Built-In to Amplifier External Regeneration Unit Included (*4) 5 (8) Sine-wave PWM control / current control system 85 (13) 85 (13) Dynamic Brake Built-in External option Built-in Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), Safety Features servo motor overheat protection, encoder fault protection, regeneration fault protection, undervoltage / sudden power outage protection, overspeed protection, excess error protection Structure Self-cooling open (IP) Fan cooling open (IP) Self-cooling open (IP) to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Environment Elevation 1m or less above sea level Mass kg (lb) Vibration.8 (1.8).8 (1.8) 1. (2.2) 1. (2.2) 1.4 (3.1) 1.4 (3.1) 2.3 (5.1) 5.9m/s 2 maximum 1. Rated output and rated speed of the servo motor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed. The torque drops when the power supply voltage is less than specified. 2. For torque characteristics when combined with a servo motor, refer to the Servo Motor Torque characteristics on the servo motor specifications pages mA is the value when all of the input/output points are used. The current capacity can be stepped down according to the number of input/output points in use. Refer to the Servo Amplifier Instruction Manual for details. 4. Number in ( ) is with installing an external cooling fan (1.m 3 /min, approx. 92) and change parameter PA (5.1) 4.6 (1) 6.2 (14) 18 (4) 18 (4) 19 (42).8 (1.8).8 (1.8) 1. (2.2) MR-J3-B 2V 3K~37K Servo Amplifier Specifications Drive Unit Model MR-J3-DU3KB MR-J3-DU37KB Converter Unit Model MR-J3-CR55K Voltage / Frequency (*1) Main Circuit Power Supply Permissible Voltage Fluctuation Permissible Frequency Fluctuation The drive unit s main circuit power is supplied by the converter unit. Voltage / Frequency 1-phase 2 to 23VAC 5/6Hz Control Circuit Permissible Voltage Fluctuation 1-phase 17 to 253VAC Power Supply Permissible Frequency Fluctuation ±5% maximum Power Consumption (W) 45 Interface Power Supply 24VDC ±1% (required current capacity: 15mA (*3)) Control System Sine-wave PWM control / current control system Dynamic Brake External option Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), Safety Features servomotor overheat protection, encoder fault protection, regeneration fault protection, undervoltage / sudden power outage protection, overspeed protection, excess error protection Structure Fan cooling open (IP) to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Environment Elevation 1m or less above sea level Vibration 5.9m/s 2 maximum Mass kg (lb) 26 (57) 118

11 MR-J3-CR55K 2V Servo Converter Specifications Converter Unit Model MR-J3-CR55K Drive Unit Model MR-J3-DU3KB MR-J3-DU37KB Voltage / Frequency (*1, *2) 3-phase 2 to 23VAC 5/ 6Hz Main Circuit Power Supply Permissible Voltage Fluctuation 3-phase 17 to 253VAC Permissible Frequency Fluctuation ±5% maximum Voltage / Frequency 1-phase 2 to 23VAC 5/6Hz Control Circuit Power Permissible Voltage Fluctuation 1-phase 17 to 253VAC Supply Permissible Frequency Fluctuation ±5% maximum Power Consumption (W) 45 Interface Power Supply 24VDC ±1% (required current capacity: 13mA (*3)) Regenerative Resistor/ Tolerable Regenerative Power (W) Optional Regeneration Unit MR-RB139 MR-RB Safety Features Regeneration overvoltage shutdown, overload shutdown (electronic thermal), regeneration fault protection, undervoltage / sudden power outage protection Structure Fan cooling open (IP) to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Environment Elevation 1m or less above sea level Vibration 5.9m/s 2 maximum Mass kg (lb) 25 (55) 1. Rated output and rated speed of the servomotor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed. The torque drops when the power supply voltage is less than specified. 2. For torque characteristics when combined with a servomotor, refer to the Servomotor Torque characteristics on the servomotor specifications pages. 3. The interface power supply can be shared with the drive unit and converter unit. When all of the input/output points are used, 15mA is required for the drive unit and 13mA is required for the converter unit. The current capacity can be stepped down according to the number of input/output points in use. MR-J3-B & MR-J3-B-RJ6 4V Servo Amplifier Specifications Drive Unit Model MR-J3- & MR-J3- -RJ6 6B4 1B4 2B4 35B4 5B4 7B4 11KB4 15KB4 22KB4 Voltage / Frequency (*1, *2) 3-phase 38 to 48VAC 5/6Hz Main Circuit Power Supply Permissible Voltage Fluctuation 3-phase 323 to 528VAC Permissible Frequency Fluctuation ±5% maximum Voltage / Frequency 1-phase 38 to 48VAC 5/6Hz Control Circuit Power Permissible Voltage Fluctuation 1-phase 323 to 528VAC Supply Permissible Frequency Fluctuation ±5% maximum Power Consumption (W) 3 45 Interface Power Supply 24VDC ±1% (required current capacity: 15mA (*3)) Regenerative Resistor/Tolerable Resistor Built-In to Amplifier Regenerative Power (W) External Regeneration Unit Included (*5) (*4) (8) (13) (13) Serial Interface Mitsubishi high-speed serial communication Load Side Encoder Pulse Train Input Signal ABZ phase differential input signal Interface (RJ6 ONLY) Interface Minimum Phase Difference 2ns Control System Sine-wave PWM control / current control system Dynamic Brake Built-in (*6) External option Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), servomotor Safety Features overheat protection, encoder fault protection, regeneration fault protection,undervoltage / sudden power outage protection, overspeed protection, excess error protection. Structure Self cooling open (IP) Fan cooling open (IP) to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Environment Elevation 1m or less above sea level Vibration 5.9m/s 2 maximum Mass kg (lb) 1.7 (3.75) 1.7 (3.75) 2.1 (4.63) 2.1 (4.63) 4.6 (1.14) 6.2 (13.67) 18 (39.68) 18 (39.68) 19 (41.88) 1. Rated output and rated speed of the servomotor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed. The torque drops when the power supply voltage is less than specified. 2. For torque characteristics when combined with a servomotor, refer to the Servomotor Torque characteristics on the servomotor specifications pages mA is the value when all of the input/output points are used. The current capacity can be stepped down according to the number of input/output points in use. Refer to the Servo Amplifier Instruction Manual for details. 4. Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software. 5. Number in ( ) is with installing an external cooling fan (approx. 1.m 3 /min, 92) and change parameter PA2. 6. When using amplifiers 5kW and 7kW and the speed exceeds 2r/min, please use the built-in dynamic brake and calculate inertia ratio as 5 times or less. Mitsubishi Electric Automation Servomotors and Amplifiers 119

12 SERVOMOTORS AND AMPLIFIERS MR-J3-B 4V 3K~55K Servo Amplifier Specifications Drive Unit Model MR-J3-DU3KB4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4 Converter Unit Model MR-J3-CR55K4 Voltage / Frequency (*1) Main Circuit Power Supply Permissible Voltage Fluctuation Permissible Frequency Fluctuation The drive unit s main circuit power is supplied by the converter unit. Voltage / Frequency 1-phase 38 to 48VAC 5/6Hz Control Circuit Power Permissible Voltage Fluctuation 1-phase 323 to 528VAC Supply Permissible Frequency Fluctuation ±5% maximum Power Consumption (W) 45 Interface Power Supply 24VDC ±1% (required current capacity: 15mA (*3)) Control System Sine-wave PWM control / current control system Dynamic Brake External option Safety Features Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), servomotor overheat protection, encoder fault protection, regeneration fault protection, undervoltage / sudden power outage protection, overspeed protection, excess error protection Structure Fan cooling open (IP) to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) Environment Elevation Vibration 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) 1m or less above sea level 5.9m/s 2 maximum Mass kg (lb) 18 (4) 26 (57) MR-J3-CR55K4 4V Servo Converter Specifications Converter Unit Model MR-J3-CR55K4 Drive Unit Model MR-J3-DU3KB4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4 Main Circuit Power Supply Control Circuit Power Supply Voltage / Frequency (*1, *2) Permissible Voltage Fluctuation Permissible Frequency Fluctuation Voltage / Frequency Permissible Voltage Fluctuation Permissible Frequency Fluctuation 3-phase 38 to 48VAC 5/6Hz 3-phase 323 to 528VAC ±5% maximum 1-phase 38 to 48VAC 5/6Hz 1-phase 323 to 528VAC ±5% maximum Power Consumption (W) 45 Interface Power Supply 24VDC ±1% (required current capacity: 13mA (*3)) Regenerative Resistor/ Tolerable Regenerative Power (W) Safety Features Structure Environment Optional Regeneration Unit Elevation Vibration MR-RB MR-RB Regeneration overvoltage shutdown, overload shutdown (electronic thermal), regeneration fault protection, undervoltage / sudden power outage protection Fan cooling open (IP) to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) 1m or less above sea level 5.9m/s 2 maximum Mass kg (lb) 25 (55) 1. Rated output and rated speed of the servomotor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed. The torque drops when the power supply voltage is less than specified. 2. For torque characteristics when combined with a servomotor, refer to the Servomotor Torque characteristics on the servomotor specifications pages. 3. The interface power supply can be shared with the drive unit and converter unit. When all of the input/output points are used, 15mA is required for the drive unit and 13mA is required for the converter unit. The current capacity can be stepped down according to the number of input/output points in use 12

13 MR-J3-T 1V/2V Servo Amplifier Specifications Drive Unit Model MR-J3-1T 2T 4T 6T 7T 1T 2T 35T 5T 7T 11KT 15KT 22KT 1T1 2T1 4T1 Voltage / Frequency 3-phase 2 to 23VAC 5/6Hz 1-phase 1 to 12VAC 3-phase 2 to 23VAC 5/6Hz (*1, *2) 1-phase 2 to 23VAC 5/6Hz 5/6Hz Main Circuit 3-phase or 1-phase 2 to 23VAC: Permissible Voltage Fluctuation Power Supply 17 to 253VAC 3-phase 17 to 253VAC 1-phase85 to 132VAC Permissible Frequency Fluctuation ±5% maximum Voltage / Frequency 1-phase 2 to 23VAC 5/6Hz 1-phase 1 to12vac 5/6Hz Control Circuit Permissible Voltage Fluctuation 1-phase 17 to 253VAC 1-phase 85 to 132VAC Power Supply Permissible Frequency Fluctuation ±5% maximum Power Consumption 3W 45W 3W Interface Power Supply 24VDC ±1% (required current capacity: 15mA (*3)) Reg Resistor/ Tolerable Reg. Power (W) Control System Resistor Built-In to Amplifier External Regeneration Unit Included (*4) 5 (8) Sine-wave PWM control / current control system 85 (13) 85 (13) Dynamic Brake Built-in External option Built-in Safety Features Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), servomotor overheat protection, encoder fault protection, regeneration fault protection, undervoltage / sudden power outage protection, overspeed protection, excess error protection Structure Self-cooling open (IP) Fan cooling open (IP) Self-cooling open (IP) Environment Elevation to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) 1m or less above sea level Vibration 5.9m/s 2 maximum Mass kg (lb).8 (1.8).8 (1.8) 1. (2.2) 1. (2.2) 1.4 (3.1) 1.4 (3.1) 2.3 (5.1) 2.3 (5.1) 4.6 (1) 6.2 (14) 18 (4) 18 (4) 19 (42).8 (1.8).8 (1.8) 1. (2.2) 1. Rated output and rated speed of the servomotor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed. The torque drops when the power supply voltage is less than specified. 2. For torque characteristics when combined with a servomotor, refer to the Servomotor Torque characteristics on the servomotor specifications pages mA is the value when all of the input/output points are used. The current capacity can be stepped down according to the number of input/output points in use. Refer to the Servo Amplifier Instruction Manual for details. 4. Number in ( ) is with installing an external cooling fan (approx.1.m 3 /min, 92) and change parameter PA2. MR-J3-T 4V Servo Amplifier Specifications Drive Unit Model MR-J3-6T4 1T4 2T4 35T4 5T4 7T4 11KT4 15KT4 22KT4 Voltage / Frequency (*1, *2) 3-phase 38 to 48VAC 5/6Hz Main Circuit Power Supply Permissible Voltage Fluctuation Permissible Frequency Fluctuation Voltage / Frequency 3-phase 323 to 528VAC ±5% maximum 1-phase 38 to 48VAC 5/6Hz Control Circuit Permissible Voltage Fluctuation 1-phase 323 to 528VAC Power Supply Permissible Frequency Fluctuation ±5% maximum Power Consumption (W) 3 45 Interface Power Supply 24VDC ±1% (required current capacity: 15mA (*3)) Reg Resistor/ Resistor Built-In To Amplifier Tolerable Reg External Regeneration Unit Power (W) (*4) Included (*5) 5 (8) 85 (13) 85 (13) Control System Sine-wave PWM control / current control system Dynamic Brake Built-in (*6) External option Safety Features Overcurrent shutdown, regeneration overvoltage shutdown, overload shutdown (electronic thermal), servomotor overheat protection, encoder fault protection, regeneration fault protection, undervoltage / sudden power outage protection, overspeed protection, excess error protection Structure Self cooling open (IP) Fan cooling open (IP) Environment Elevation Vibration to 55 C (32 to 131 F) (non-freezing), storage: -2 to 65 C (-4 to 149 F) (non-freezing) 9% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) 1m or less above sea level 5.9m/s 2 maximum Mass kg (lb) 1.7 (3.75) 1.7 (3.75) 2.1 (4.63) 2.1 (4.63) 4.6 (1.14) 6.2 (13.67) 18 (39.68) 18 (39.68) 19 (41.88) 1. Rated output and rated speed of the servomotor used in combination with the servo amplifier are as indicated when using the power supply voltage and frequency listed. The torque drops when the power supply voltage is less than specified. 2. For torque characteristics when combined with a servomotor, refer to the Servomotor Torque characteristics on the servomotor specifications pages mA is the value when all of the input/output points are used. The current capacity can be stepped down according to the number of input/output points in use. Refer to the Servo Amplifier Instruction Manual for details. 4. Optimal regenerative resistor varies for each system. Select the most suitable regenerative resistor by using the capacity selection software. 5. Number in ( ) is with installing an external cooling fan (approx. 1.m 3 /min, 92) and change parameter PA2. 6. When using amplifiers 5kW and 7kW and it the speed exceeds 2r/min, please use the built-in dynamic brake and calculate inertia ratio as 5 times or less. Mitsubishi Electric Automation Servomotors and Amplifiers 121

14 SERVOMOTORS AND AMPLIFIERS MR-J3-T 1V/2V/4V Servo Amplifier Common Specifications Command Interface Command System Operation Mode Point Table Number Imput Position Command Data Input (When 2 Stations Are Occupied) Automatic Operation on Mode Manual Operation Mode Home Position Return Mode Operational Specifications Position Command Input Speed Command Input System Operational Specifications Position Command Input Speed Command Input System Point Table Automatic Continuous Operation Jog Dog Type Count Type Data Setting Type Stopper Type Home Position Ignorance (Servo-On Position As Home Position) Dog Type Rear End Reference Count Type Front End Reference Dog Cradle Type CC-Link communications (Ver. 1.1), DIO command (extension IO unit MR-J3-D1 is required), or RS-422 communication Positioning by specifying the point table No. (255 points) Set in point table. 1-point feed length setting range: ±1[µm] to ± [mm] Set in point table. Acceleration/deceleration time is set in point table. S-pattern acceleration/deceleration time constant is set in parameter No. PC13. Signed absolute value command system, incremental value command system, signed absolute value command/incremental value command specifying system Remote register setting is used for positioning. Remote register is used to set position command data. Feed length input setting range :±1µm to ± mm Remote register is used to make selection from point table. Remote register is used to set speed command data (speed). S-pattern acceleration/deceleration time constant is set in parameter No. PC13. Signed absolute value command system, incremental value command system, signed absolute value command/incremental value command specifying system Point table number input, position data input system. Positioning operation is performed once in accordance with the position and speed commands. Varied speed operation (2 to 255 speeds), automatic continuous positioning operation (2 to 255 points) Jog operation is performed in accordance with the parameter-set speed command by contact input or through CC-Link communication function Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position return direction may be selected. Automatic at-dog home position return return/automatic stroke return function Home position return is made by counting encoder pulses after contact with proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function Home position return is made without dog. Home position may be set at any position by manual operation, etc. Home position address may be set. Home position return is made by pressing machine part against stroke end. Home position address may be set. Home position return direction may be set. Position where servo-on (RYn) is switched on is defined as home position. Home position address may be set. Home position return is made with respect to the rear end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function Home position return is made with respect to the front end of a proximity dog. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function Home position return is made with respect to the front end of a proximity dog by the first Z-phase pulse. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function Dog Type Last Z Phase Reference Dog Type Front End Reference Dogless Z-Phase Reference Automatic Positioning to Home Position Home position return is made with respect to the front end of a proximity dog by the last Z-phase pulse. Home position address may be set. Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function Home position return is made to the dog front end with respect to the front end of a proximity dog. Home position address may be set Home position shift value may be set. Home position return direction may be set. Automatic at-dog home position return return/automatic stroke return function Home position return is made with respect to the first Z phase to the Z phase. Home position address may be set. Home position shift value may be set. Home position return direction may be set. High-speed automatic return to a defined home position. 122

15 HF-MP Series 2V Servomotor Specifications Servomotor Model HF-MP 53(B) 13(B) 23(B) 43(B) 73(B) Servo Amplifier Model MR-J3- - 1A(1)/B(1)(-RJ6)/T(1) 2A(1)/B(1)(-RJ6)/T(1) 4A(1)/B(1)(-RJ6)/T(1) 7A(1)/B(1)(-RJ6)/ T(1)7A Power Facility Capacity (kva) (*1) Continuous Running Duty Rated output (kw) Rated torque (N m [oz in]).16 (22.7).32 (45.3).64 (9.6) 1.3 (184) 2.4 (34) Maximum Torque (N m [oz in]).48 (68).95 (135) 1.9 (269) 3.8 (538) 7.2 (12) Rated Speed (r/min) 3 Maximum Speed (r/min) 6 Permissible Instantaneous Speed (r/min) 69 Power Rate at Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regen Braking Frequency (*2) (times/min) Refer to Manual Refer to Manual Moment of Inertia Standard.19 (.14).32 (.175).88 (.481).15 (.82).6 (3.28) J (x1-4 kg m 2 ) [J (oz in 2 )] With Electromagnetic Brake.25 (.137).39 (.213).12 (.656).18 (.984).7 (3.83) Recommended Load/Motor Inertia Moment Ratio 3 times the servomotor s inertia moment maximum (*3) Speed/Position Detector 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Attachments Oil seal Part number would be HF-MP J Insulation Class Class B Structure Totally enclosed non-ventilated (protection level: IP65) (*4) to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) Environment 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Elevation / Vibration 1m or less above sea level/ X,Y:49m/s 2 Mass kg (lb) Standard.35 (.772).56 (1.24).94 (2.7) 1.5 (3.31) 2.9 (6.39) With electromagnetic brake.65 (1.5).86 (1.9) 1.6 (3.6) 2.1 (4.7) 3.9 (8.6) 1. The power facility capacity varies depending on the power supply's impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. HF-KP Series 2V Servomotor Specifications Servomotor Model HF-KP 53(B) 13(B) 23(B) 43(B) 73(B) Servo Amplifier Model MR-J3- - 1A(1)/B(1)(-RJ6)/T(1) 2A(1)/B(1)(-RJ6)/ T(1) 4A(1)/B(1)(-RJ6)/T(1) 7A(1)/B(1)(-RJ6)/T(1) Power Facility Capacity (kva) (*1) Continuous Running Duty Rated Output (kw) Rated Torque (N m [oz in]).16 (22.7).32 (45.3).64 (9.6) 1.3 (184) 2.4 (34) Maximum Torque (N m [oz in]).48 (68).95 (135) 1.9 (269) 3.8 (538) 7.2 (12) Rated Speed (r/min) 3 Maximum Speed (r/min) 6 Permissible Instantaneous Speed (r/min) 69 Power Rate at Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regenerative Braking Frequency (*2) (times/min) Refer to Manual Refer to Manual Moment Of Inertia Standard.52 (.284).88 (.481).24 (1.31).42 (2.3) 1.43 (7.82) J (x1-4 kg m 2 ) [J (oz in 2 )] With Electromagnetic Brake.54 (.295).9 (.492).31 (1.69).5 (2.73) 1.63 (8.91) Recommended Load/Motor Inertia Moment Ratio 3 times the servomotor's inertia moment maximum (*3) Speed/Position Detector 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Attachments Oil seal Part number would be HF-KP J Insulation Class Class B Structure Totally enclosed non-ventilated (protection level: IP65) (*4) to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) Environment 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Elevation / Vibration 1m or less above sea level/ X,Y:49m/s 2 Mass kg (lb) Standard.35 (.772).56 (1.24).94 (2.7) 1.5 (3.31) 2.9 (6.39) With Electromagnetic Brake.65 (1.5).86 (1.9) 1.6 (3.6) 2.1 (4.7) 3.9 (8.6) 1. The power facility capacity varies depending on the power supply s impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. Mitsubishi Electric Automation Servomotors and Amplifiers 123

16 SERVOMOTORS AND AMPLIFIERS HF-SP 1r/min Series 2V Servomotor Specifications Servomotor Model HF-SP 51(B) 81(B) 121(B) 21(B) 31(B) 421(B) Servo Amplifier Model MR-J3- - 6A/B(-RJ6)/T 1A/B(-RJ6)/T 2A/B(-RJ6)/T 35A/B(-RJ6)/T 5A/B(-RJ6)/T Power Facility Capacity (*1) (kva) Continuous Running Duty Rated Output (kw) Rated Torque (N m [oz in]) 4.77 (675) 8.12 (115) 11.5 (163) 19.1 (271) 28.6 (45) 4.1 (5679) Maximum Torque (N m [oz in]) 14.3 (23) 24.4 (346) 34.4 (487) 57.3 (811) 85.9 (12164) 12 (16993) Rated Speed (r/min) 1 Maximum Speed (r/min) 15 Permissible Instantaneous Speed (r/min) 1725 Power Rate at Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regenerative Braking Frequency (Times/Min) (*2) Moment Of Inertia J (x1-4 kg m 2 ) [J (oz in 2 )] Standard 11.9 (65.1) 17.8 (97.3) 38.3 (29) 75. (41) 97. (53) 154 (842) With Electromagnetic Brake 14. (76.5) 2. (19) 47.9 (262) 84.7 (463) 17 (585) 164 (897) Recommended Load/Motor Inertia Moment Ratio 15 times the servomotor s inertia moment maximum (*3) Speed/Position Detector 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Attachments Oil seal Part number would be HF-SP J Insulation Class Class F Structure Totally enclosed non-ventilated (protection level: IP67) (*4) to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Environment Elevation / Vibration 1m or less above sea level/ 1m or less above sea level/ 1m or less above sea level/ X: 24.5m/s 2 Y: 24.5m/s 2 X: 24.5m/s 2 Y: 49m/s 2 X: 24.5m/s 2 Y: 29.4m/s 2 Mass kg (lb) Standard 6.5 (15) 8.3 (19) 12 (27) 19 (42) 22 (49) 32 (71) With Electromagnetic Brake 8.5 (19) 1.3 (23) 18 (4) 25 (56) 28 (62) 38 (84) 1. The power facility capacity varies depending on the power supply's impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the X Y motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. 124

17 HF-SP 2r/min Series 2V Servomotor Specifications Servomotor Model HF-SP 52(B) 12(B) 152(B) 22(B) 352(B) 52(B) 72(B) Servo Amplifier Model MR-J3- - 6A/B(-RJ6)/T 1A/B(-RJ6)/T 2A/B(-RJ6)/T 35A/B (-RJ6)/T 5A/B (-RJ6)/T 7A/B (-RJ6)/T Power Facility Capacity (kva) (*1) Continuous Running Rated Output (kw) Duty Rated Torque (N m [oz in]) 2.39 (338) 4.77 (675) 7.16 (11) 9.55 (135) 16.7 (236) 23.9 (338) 33.4 (473) Maximum Torque (N m [oz in]) 7.16 (11) 14.3 (22) 21.5 (34) 28.6 (45) 5.1 (79) 71.6 (11) 1 (142) Rated Speed (r/min) 2 Maximum Speed (r/min) 3 Permissible Instantaneous Speed (r/min) 345 Power Rate Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regenerative Braking Frequency (times/min) (*2) Moment of inertia Standard 6.1 (33.4) 11.9 (65.1) 17.8 (97.3) 38.3 (29) 75. (41) 97. (53) 154 (842) J (x1-4 kg m 2 ) [J (oz in 2 )] With Electromagnetic Brake 8.3 (45.4) 14. (76.5) 2. (19) 47.9 (262) 84.7 (463) 17 (585) 164 (897) Recommended Load/Motor Inertia Moment Ratio 15 times the servomotor s inertia moment maximum (*3) Speed/Position Detector 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Attachments Oil seal Part number would be HF-SP J Insulation Class Structure Totally enclosed non-ventilated (protection level: IP67) (*4) Environment Class F to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) 1m or less above sea level 1m or less above sea level Elevation / Vibration 1m or less above sea level X: 24.5m/s 2 Y: 24.5m/s 2 X: 24.5m/s 2 Y: 49m/s 2 X: 24.5m/s 2 Y: 29.4m/s 2 Mass kg (lb) Standard 4.8 (11) 6.5 (15) 8.3 (19) 12 (27) 19 (42) 22 (49) 32 (71) With Electromagnetic Brake 6.7 (15) 8.5 (19) 1.3 (23) 18 (4) 25 (56) 28 (62) 38 (84) 1. The power facility capacity varies depending on the power supply's impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. X Y Mitsubishi Electric Automation Servomotors and Amplifiers 125

18 SERVOMOTORS AND AMPLIFIERS HF-SP 2r/min Series 4V Servomotor Specifications Servomotor Model HF-SP 524(B) 124(B) 1524(B) 224(B) 3524(B) 524(B) 724(B) Servo Amplifier Model MR-J3- - 6A4/B4 (-RJ6)/T4 1A4/B4 (-RJ6)/T4 2A4/B4(-RJ6)/T4 35A4/B4 (-RJ6)/T4 5A4/B4 (-RJ6)/T4 Power Facility Capacity (kva) (*1) Continuous Running Duty Rated Output (kw) A4/B4 (-RJ6)/T4 Rated Torque (N m [oz in]) 2.39 (338) 4.77 (675) 7.16 (11) 9.55 (135) 16.7 (236) 23.9 (338) 33.4 (473) Maximum Torque (N m [oz in]) 7.16 (11) 14.3 (22) 21.5 (34) 28.6 (45) 5.1 (79) 71.6 (11) 1 (142) Rated Speed (r/min) 2 Maximum Speed (r/min) 3 Permissible Instantaneous Speed (r/min) 345 Power Rate Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regenenerative Braking Freq. (times/min) (*2) Moment of inertia Standard 6.1 (33.4) 11.9 (65.1) 17.8 (97.3) 38.3 (29) 75. (41) 97. (53) 154 (842) J (x1-4 kg m 2 ) [J (oz in 2 )] With Electromagnetic Brake 8.3 (45.4) 14. (76.5) 2. (19) 47.9 (262) 84.7 (463) 17 (585) 164 (897) Recommended Load / Motor Inertia Moment Ratio 15 times the servomotor s inertia moment maximum (*3) Speed/Position Detector Attachments Insulation Class 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Oil seal Part number would be HF-SP J Structure Totally enclosed non-ventilated (protection level: IP67) (*4) Environment Mass kg (lb) Class F to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) 1m or less above sea level 1m or less above sea level Elevation / Vibration 1m or less above sea level X: 24.5m/s 2 Y: 24.5m/s 2 X: 24.5m/s 2 Y: 49m/s 2 X: 24.5m/s 2 Y: 29.4m/s 2 Standard 4.8 (11) 6.7 (15) 8.5 (19) 13 (29) 19 (42) 22 (49) 32 (71) With Electromagnetic Brake 6.7 (15) 8.6 (19) 11 (24) 19 (42) 25 (56) 28 (62) 38 (84) 1. The power facility capacity varies depending on the power supply s impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. X Y 126

19 HC-LP Series 2V Servomotor Specifications Servomotor Model HC-LP 52(B) 12(B) 152(B) 22(B) 32(B) Servo Amplifier Model MR-J3- - 6A/B (-RJ6)/T 1A/B (-RJ6)/T 2A/B (-RJ6)/T 35A/B (-RJ6)/T 5A/B (-RJ6)/T Power Facility Capacity (kva) (*1) Continuous Running Rated Output (kw) Duty Rated Torque (N m [oz in]) 2.39 (338) 4.78 (677) 7.16 (11) 9.55 (135) 14.3 (22) Maximum Torque (N m [oz in]) 7.16 (11) 14.4 (24) 21.6 (36) 28.5 (44) 42.9 (67) Rated Speed (r/min) 2 Maximum Speed (r/min) 3 Permissible Instantaneous Speed (r/min) 345 Power Rate At Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regenerative Braking Frequency (Times/Min) (*2) Moment Of Inertia J (x1-4 kg m 2 ) [J (oz in 2 )] Standard 3.1 (16.9) 4.62 (25.3) 6.42 (35.1) 22. (12) 36. (197) With Electromagnetic Brake 5.2 (28.4) 6.72 (36.7) 8.52 (46.6) 32. (175) 46. (252) Recommended Load/Motor Inertia Moment Ratio 1 times the servomotor's inertia moment maximum (*3) Speed/Position Detector Attachments Insulation Class 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Oil seal Part number would be HC-LP J Structure Totally enclosed non-ventilated (protection level: IP65) (*4) Environment Mass kg (lb) Class F to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) 1m or less above sea level Elevation / Vibration 1m or less above sea level X: 9.8m/s 2 Y: 24.5m/s 2 X: 19.6m/s 2 Y: 49m/s 2 Standard 6.5 (15) 8. (18) 1 (22) 21 (47) 28 (62) With Electromagnetic Brake 9. (2) 11 (25) 13 (29) 27 (6) 34 (75) 1. The power facility capacity varies depending on the power supply s impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value X Y Mitsubishi Electric Automation Servomotors and Amplifiers 127

20 SERVOMOTORS AND AMPLIFIERS HC-RP Series 2V Servomotor Specifications Servomotor Model HC-RP 13(B) 153(B) 23(B) 353(B) 53(B) Servo Amplifier Model MR-J3- - 2A/B(-RJ6)/T 35A/B(-RJ6)/T 5A/B(-RJ6)/T Power Facility Capacity (kva) (*1) Continuous Running Rated Output (kw) Duty Rated Torque (N m [oz in]) 3.18 (45) 4.78 (677) 6.37 (92) 11.1 (157) 15.9 (225) Maximum Torque (N m [oz in]) 7.95 (113) 11.9 (169) 15.9 (225) 27.9 (395) 39.7 (562) Rated Speed (r/min) 3 Maximum Speed (r/min) 45 Permissible Instantaneous Speed (r/min) 5175 Power Rate At Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regen Braking Frequency (times/min) (*2) Moment Of inertia J Standard 1.5 (8.2) 1.9 (1.4) 2.3 (12.6) 8.3 (45.4) 12. (65.6) (x1-4 kg m 2 ) [J (oz in 2 )] With Electromagnetic Brake 1.85 (1.1) 2.25 (12.3) 2.65 (14.5) 11.8 (64.5) 15.5 (84.7) Recommended Load/Motor Inertia Moment Ratio 5 times the servomotor s inertia moment maximum (*3) Speed/Position Detector 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Attachments Oil seal Part number would be HC-RP J Insulation Class Structure Totally enclosed non-ventilated (protection level: IP65) (*4) Environment Class F to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Elevation/Vibration 1m or less above sea level X, Y: 24.5m/s 2 Mass kg (lb) Standard 3.9 (8.6) 5. (11) 6.2 (14) 12 (27) 17 (38) With Electromagnetic Brake 6. (14) 7. (16) 8.3 (19) 15 (33) 21 (47) 1. The power facility capacity varies depending on the power supply's impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. X Y 128

21 HC-UP Series 2V Servomotor Specifications Servomotor Model HC-UP 72(B) 152(B) 22(B) 352(B) 52(B) Servo Amplifier Model MR-J3- - 7A/B(-RJ6)/T 2A/B(-RJ6)/T 35A/B(-RJ6)/T 5A/B(-RJ6)/T Power Facility Capacity (kva) (*1) Continuous Running Rated Output (kw) Duty Rated Torque (N m [oz in]) 3.58 (57) 7.16 (11) 9.55 (135) 16.7 (236) 23.9 (338) Maximum Torque (N m [oz in]) 1.7 (152) 21.6 (36) 28.5 (44) 5.1 (79) 71.6 (11) Rated Speed (r/min) 2 Maximum Speed (r/min) 3 25 Permissible Instantaneous Speed (r/min) Power Rate At Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regen Braking Frequency (times/min) (*2) Standard 1.4 (56.9) 22.1 (121) 38.2 (29) 76.5 (418) 115 (629) Moment Of Inertia J (x1-4 kg m 2 ) [J (oz in 2 )] With Electromagnetic 12.5 (68.3) 24.2 (132) 46.8 (256) 85.1 (465) 124 (678) Brake Recommended Load / Motor Inertia Moment Ratio 15 times the servomotor s inertia moment maximum (*3) Speed / Position Detector Attachments Insulation Class 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Oil seal Part number would be HC-UP J Structure Totally enclosed non-ventilated (protection level: IP65) (*4) Environment Class F to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Elevation / Vibration 1m or less above sea level X, Y: 24.5m/s 2 1m or less above sea level X: 24.5m/s 2 Y: 49m/s 2 Standard 8. (18) 11 (25) 16 (36) 2 (44) 24 (53) Mass kg (lb) With Electromagnetic Brake 1 (22) 13 (29) 22 (49) 26 (58) 3 (67) 1. The power facility capacity varies depending on the power supply s impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. X 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor Y shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. Mitsubishi Electric Automation Servomotors and Amplifiers 129

22 SERVOMOTORS AND AMPLIFIERS HA-LP 1r/min Series 2V Servomotor Specifications Servomotor Model HA-LP 61(B) 81(B) 12K1(B) 15K1 2K1 25K1 3K1 37K1 Servo Amplifier Model MR-J3- - 7A/B(-RJ6)/T 11KA/B(-RJ6)/T 15KA/B(-RJ6)/T 22KA/B(-RJ6)/T DU3KA/B DU37KA/B Power Facility Capacity (kva) (*1) Rated Output (kw) Continuous Running Duty Rated Torque 57.3 (8113.7) 76.4 (1818.2) 115 (16284) 143 (2248.8) 191 (2745.6) 239 ( ) 286 (4497.6) 353 ( ) (N m [oz in]) Maximum Torque (N m [oz in]) 172 ( ) 229 ( ) 344 (4871.4) 415 (58764) 477 ( ) 597 ( ) 716 ( ) 883 ( ) Rated Speed (r/min) 1 Maximum Speed (r/min) 12 Permissible Instantaneous Speed (r/min) 138 Power Rate At Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regen Braking Frequency (times/min) (*2) (*6) 264 (*6) 23 (*6) 195 (*6) 117 (*6) Moment Of Inertia J (x1-4 kg m 2 ) [J (oz in 2 )] Standard 15 (574.) 22 (122.7) 295 (1612.6) 55 (36.6) 65 (3553.3) 18 (593.9) 131 (7161.2) 187 (1222.5) With Electromagnetic Brake Recommended Load / Motor Inertia Moment Ratio Speed / Position Detector Attachments Insulation Class 113 (617.7) 293 (161.7) 369 (217.2) 1 times the servomotor s inertia moment maximum (*3) 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Oil seal Part number would be HA-LP J Structure Totally enclosed ventilated (protection level: IP44) (*4) Ambient Temperature to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Environment Elevation/ Vibration 1m or less above sea level X: 11.7m/s 2 Y: 29.4m/s 2 1m or less above sea level X: 9.8m/s 2 Y: 9.8m/s 2 Standard 55 (121.2) 95 (29.3) 115 (253.4) 16 (352.5) 18 (396.6) 23 (56.7) 25 (55.8) 335 (738) Mass kg (lb) With Electromagnetic Brake 7 (154.2) 13 (29) 15 (335) Cooling Fan Power Voltage, Frequency Input (W) Cooling Fan Rated Current (A) 1-phase 2 to 22VAC/5Hz 1-phase 2 to 23VAC/6Hz 42 (5Hz)/54 (6Hz).21(5Hz)/.25 (6Hz) Class F 3-phase 2 to 22VAC/5Hz 3-phase 2 to 23VAC/6Hz 32 (5Hz) / 4 (6Hz) 45 (5Hz) / 63 (6Hz) 12 (5Hz) / 175 (6Hz).3 (5Hz) /.25 (6Hz).32 (5Hz) /.35 (6Hz).65 (5Hz) /.8 (6Hz) 1. The power facility capacity varies depending on the power supply s impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. 6. This applies when the GRZG4- Ω regeneration resistors are used as a standard accessory and parameter PA2 is changed with cooling fan (1.m 3 /min, the 92x2 unit) installed. X Y 13

23 HA-LP 1r/min Series 4V Servomotor Specifications Servomotor Model HA-LP 614(B) 814(B) 12K14(B) 15K14 2K14 25K14 3K14 37K14 Servo Amplifier Model MR-J3- - 7A4/B4 (-RJ6)/T4 11KA4/B4(-RJ6)/T4 15KA4/B4 (-RJ6)/ T4 22KA4/B4 (-RJ6)/T4 DU3KA4/B4 DU37KA4/B4 Power Facility Capacity (kva) (*1) Rated Output (kw) Continuous Running Duty Rated Torque 57.3 (8113.7) 76.4 (1818.2) 115 (16284) 143 (2248.8) 191 (2745.6) 239 ( ) 286 (4497.6) 353 ( ) (N m [oz in]) Maximum Torque (N m [oz in]) 172 ( ) 229 ( ) 344 (4871.4) 415 (58764) 477 ( ) 597 ( ) 716 ( ) 883 ( ) Rated Speed (r/min) 1 Maximum Speed (r/min) 12 Permissible Instantaneous Speed (r/min) 138 Power Rate At Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regen Braking Frequency (*6) 264 (*6) 23 (*6) 195 (*6) (times/min) (*2) Moment Of Standard 15 (574.) 22 (122.7) 295 (1612.6) 55 (36.6) 65 (3553.3) 18 (593.9) 131 (7161.2) 187 (1222.5) Inertia J (x1-4 kg m 2 ) [J With Electromagnetic 113 (617.7) 293 (161.7) 369 (217.2) (oz in 2 )] Brake Recommended Load/Motor Inertia 1 times the servomotor's inertia moment maximum (*3) Moment Ratio Speed/Position Detector 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Attachments Oil seal Part number would be HA-LP J Insulation Class Class F Structure Totally enclosed ventilated (protection level: IP44) (*4) to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) Environment 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Elevation / Vibration 1m or less above sea level X: 11.7m/s 2 Y: 29.4m/s 2 1m or less above sea level X: 9.8m/s 2 Y: 9.8m/s 2 Mass kg (lb) Cooling Fan Power Standard 55 (121.2) 95 (29.3) 115 (253.4) 16 (352.5) 18 (396.6) 23 (56.7) 25 (55.8) 335 (738) With Electromagnetic Brake Voltage, Frequency Input (W) 7 (154.2) 13 (29) 15 (335) 1-phase 2 to 22VAC/5Hz 1-phase 2 to 23VAC/6Hz 42 (5Hz)/ 54 (6Hz) 3-phase 38 to 42VAC 5/6Hz 3-phase 38 to 46VAC 5/6Hz 55 (5Hz)/ 75 (6Hz) 65 (5Hz)/85 (6Hz) 11 (5Hz)/15 (6Hz) Cooling Fan Rated Current (A).21 (5Hz)/.25 (6Hz).12 (5Hz)/.11 (6Hz).12 (5Hz)/.14 (6Hz).2 (5Hz)/.22 (6Hz) 1. The power facility capacity varies depending on the power supply s impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. 6. This applies when the GRZG4- Ω regeneration resistors are used as a standard accessory and parameter PA2 is changed with cooling fan (1.m 3 /min, the 92x2 unit) installed. X Y Mitsubishi Electric Automation Servomotors and Amplifiers 131

24 SERVOMOTORS AND AMPLIFIERS HA-LP 15r/min Series 2V Servomotor Specifications Servomotor Model HA-LP 71M(B) 11K1M(B) 15K1M(B) 22K1M 3K1M 37K1M Servo Amplifier Model MR-J3- - 7A/B(-RJ6)/T 11KA/B(-RJ6)/T 15KA/B(-RJ6)/T 22KA/B(-RJ6)/T DU3KA/B DU37KA/B Power Facility Capacity (kva) (*1) Rated Output (kw) Continuous Running Duty Rated Torque 44.6 (6315.4) 7. (9912) 95.5 ( ) 14 (19824) 191 (2745.6) 236 ( ) (N m [oz in]) Maximum Torque (N m [oz in]) 134 ( ) 21 (29736) 286 (4497.6) 35 (4956) 477 ( ) 589 (8342.4) Rated Speed (r/min) 15 Maximum Speed (r/min) 2 Permissible Instantaneous Speed (r/min) 23 Power Rate at Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regen Braking Frequency (times/min) (*2) (*6) 191 (*6) 12 (*6) Moment Of inertia J Standard 15 (574.) 22 (122.7) 295 (1612.6) 55 (36.6) 65 (3553.3) 18 (593.9) (x1-4 kg m 2 ) [J With Electromagnetic (oz in 2 )] Brake 113 (617.7) 293 (161.7) 369 (217.2) Recommended Load / Motor Inertia Moment Ratio 1 times the servomotor s inertia moment maximum (*3) Speed / Position Detector 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Attachments Oil seal Part number would be HA-LP J Insulation Class Class F Structure Totally enclosed ventilated (protection level: IP44) (*4) Environment to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Mass kg (lb) Cooling Fan Power Elevation / Vibration 1m or less above sea level X: 11.7m/s 2 Y: 29.4m/s 2 1m or less above sea level X: 9.8m/s 2 Y: 9.8m/s 2 Standard 55 (121.2) 95 (29.3) 115 (253.4) 16 (352.5) 18 (396.6) 23 (56.7) With Electromagnetic Brake Voltage, Frequency Input (W) Cooling Fan Rated Current (A) 7 (154.2) 13 (29) 15 (335) 1-phase 2 to 22VAC / 5 Hz 1-phase 2 to 23VAC / 6Hz 42 (5Hz) / 54 (6Hz).21 (5Hz) /.25 (6Hz) 3-phase 2 to 22VAC/5Hz 3-phase 2 to 23VAC/6Hz 32 (5Hz) / 4 (6Hz) 45 (5Hz) / 63 (6Hz) 12 (5Hz) / 175 (6Hz).3 (5Hz) /.25 (6Hz).32 (5Hz) /.35 (6Hz).65 (5Hz) /.8 (6Hz) 1. The power facility capacity varies depending on the power supply s impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. 6. This applies when the GRZG4- Ω regeneration resistors are used as a standard accessory and parameter PA2 is changed with cooling fan (1.m 3 /min, the 92x2 unit) installed. X Y 132

25 HA-LP 15r/min Series 4V Servomotor Specifications Servomotor Model HA-LP 71M4(B) 11K1M4(B) 15K1M4(B) 22K1M4 3K1M4 37K1M4 45K1M4 5K1M4 Servo Amplifier Model MR-J3- - 7A4/B4 (-RJ6)/T4 11KA4/B4 (-RJ6)/T4 15KA4/B4(-RJ6)/T4 22KA4/B4 (-RJ6)/T4 DU3KA4/B4 DU37KA4/B4 DU45KA4/B4 DU55KA4/B4 Power Facility Capacity (kva) (*1) Continuous Running Duty Rated Output (kw) Rated Torque (N m [oz in]) 44.6 (6315.4) 7. (9912) 95.5 ( ) 14 (19824) 191 (2745.6) 236 ( ) 286 (4497.6) 318 (4528.8) Maximum Torque (N m [oz in]) 134 ( ) 21 (29736) 286 (4497.6) 35 (4956) 477 ( ) 589 (8342.4) 716 ( ) 796 ( ) Rated Speed (r/min) 15 Maximum Speed (r/min) 2 Permissible Instantaneous Speed (r/min) 23 Power Rate At Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regen Braking Frequency (times/min) (*2) (*6) 191 (*6) 12 (*6) Moment Of Inertia Standard 15 (574.) 22 (122.7) 295 (1612.6) 55 (36.6) 65 (3553.3) 18 (593.9) 131 (7161.2) 187 (1222.5) J (x1-4 kg m 2 ) With Electromagnetic [J (oz in 2 )] Brake 113 (617.7) 293 (161.7) 369 (217.2) Recommended Load / Motor Inertia Moment Ratio 1 times the servomotor's inertia moment maximum (*3) Speed / Position Detector 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Attachments Oil seal Part number would be HA-LP J Insulation class Class F Structure Totally enclosed ventilated (protection level: IP44) (*4) Environment Mass kg (lb) Cooling Fan Power to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Elevation / Vibration 1m or less above sea level X: 11.7m/s 2 Y: 29.4m/s 2 1m or less above sea level X: 9.8m/s 2 Y: 9.8m/s 2 Standard 55 (121.2) 95 (29.3) 115 (253.4) 16 (352.5) 18 (396.6) 23 (56.7) 25 (55.8) 335 (738) With Electromagnetic Brake 7 (154.2) 13 (29) 15 (335) 1-phase 2 to Voltage, Frequency 22VAC/5Hz 1-phase 2 to 3-phase 38 to 42VAC 5/6Hz 3-phase 38 to 46VAC 5/6Hz 23VAC/6Hz Input (W) 42 (5Hz)/54 (6Hz) 55 (5Hz)/ 75 (6Hz) 65 (5Hz)/85 (6Hz) 11 (5Hz)/15 (6Hz).21 (5Hz)/.25 (6Hz).12 (5Hz)/.11 (6Hz).12 (5Hz)/.14 (6Hz).2 (5Hz)/.22 (6Hz) Cooling Fan Rated Current (A) 1. The power facility capacity varies depending on the power supply's impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of thecomponent (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. 6. This applies when the GRZG4- Ω regeneration resistors are used as a standard accessory and parameter PA2 is changed with cooling fan (1.m 3 /min, the 92x2 unit) installed. X Y Mitsubishi Electric Automation Servomotors and Amplifiers 133

26 SERVOMOTORS AND AMPLIFIERS HA-LP 2r/min Series 2V Servomotor Specifications Servomotor Model HA-LP K2(B) 15K2(B) 22K2(B) 3K2 37K2 Servo Amplifier Model MR-J3- - 6A/B(-RJ6)/T 7A/B(-RJ6)/T 11KA/B(-RJ6)/T 15KA/B(-RJ6)/T 22KA/B(-RJ6)/T DU3KA/B DU37KA/B Power Facility Capacity (kva) (*1) Rated Output (kw) Continuous Running Duty Rated Torque 23.9 (3384.2) 33.4 (4729.4) 52.5 (7434) 71.6 (1138.6) 15 (14868) 143 (2248.8) 177 (2563.2) (N m [oz in]) Maximum Torque (N m [oz in]) 71.6 (1138.6) 1 (1416) 158 ( ) 215 (3444) 263 (3724.8) 358 (5692.8) 442 ( ) Rated Speed (r/min) 2 Maximum Speed (r/min) 2 Permissible Instantaneous Speed (r/min) 23 Power Rate At Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regen Braking Frequency (times/min) (*2) (*6) 144 (*6) 17 (*6) Moment Of Standard 74. (44.5) 94.2 (515.) 15 (574.) 22 (122.7) 295 (1612.6) 55 (36.6) 65 (3553.3) Inertia J (x1-4 kg m 2 ) With Electromagnetic 113 (617.7) 293 (161.7) 369 (217.2) [J (oz in 2 )] Brake Recommended Load/Motor Inertia 1 times the servomotor's inertia moment maximum (*3) Moment Ratio Speed/Position Detector 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Attachments Oil seal Part number would be HA-LP J Insulation Class Structure Environment Mass kg (lb) Cooling Fan Power Class F Totally enclosed non-ventilated Totally enclosed ventilated (protection level: IP44) (*4) (protection level: IP65) (*4) to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) 1m or less above sea level Elevation / Vibration 1m or less above sea level X: 11.7m/s 2 Y: 29.4m/s 2 X: 9.8m/s 2 Y: 9.8m/s 2 Standard 28 (61.7) 35 (77.1) 55 (121.2) 95 (29.3) 115 (253.4) 16 (352.5) 18 (396.6) With Electromagnetic Brake 7 (154.2) 13 (29) 15 (335) Voltage, Frequency Input (W) Cooling Fan Rated Current (A) 1-phase 2 to 22 VAC/5Hz 1-phase 2 to 23 VAC/6Hz 42 (5Hz) / 54 (6Hz).21 (5Hz)/.25 (6Hz) 3-phase 2 to 22VAC / 5Hz 3-phase 2 to 23VAC / 6Hz 32 (5Hz) / 4 (6Hz) 45 (5Hz) / 63 (6Hz).3 (5Hz) /.25 (6Hz).32 (5Hz) /.35 (6Hz) 1. The power facility capacity varies depending on the power supply s impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of thecomponent (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. 6. This applies when the GRZG4- Ω regeneration resistors are used as a standard accessory and parameter PA2 is changed with cooling fan (1.m 3 /min, the 92x2 unit) installed. X Y 134

27 HA-LP 2r/min Series 4V Servomotor Specifications Servomotor Model HA-LP 11K24(B) 15K24(B) 22K24(B) 3K24 37K24 45K24 55K24 11KA4/B4 15KA4/B4 22KA4/B4 Servo Amplifier Model MR-J3- - DU3KA4/B4 DU37KA4/B4 DU45KA4/B4 DU55KA4/B4 (-RJ6)/T4 (-RJ6)/T4 (-RJ6)/T4 Power Facility Capacity (kva) (*1) Rated Output (kw) Continuous Running Duty Rated Torque 52.5 (7434) 71.6 (1138.6) 15 (14868) 143 (2248.8) 177 (2563.2) 215 (3444) 263 (3724.8) (N m [oz in]) Maximum Torque (N m [oz in]) 158 ( ) 215 (3444) 263 (3724.8) 358 (5692.8) 442 ( ) 537 (7639.2) 657 (9331.2) Rated Speed (r/min) 2 Maximum Speed (r/min) 2 Permissible Instantaneous Speed (r/min) 23 Power Rate At Continuous Rated Torque (kw/s) Rated Current (A) Maximum Current (A) Regen. Braking Frequency (times/min) (*2) 186 (*6) 144 (*6) 17 (*6) Moment of Standard 15 (574.) 22 (122.7) 295 (1612.6) 55 (36.6) 65 (3553.3) 18 (593.9) 131 (7161.2) Inertia J (x1-4 kg m 2 ) With Electromagnetic 113 (617.7) 293 (161.7) 369 (217.2) [J (oz in 2 )] Brake Recommended Load / Motor Inertia 1 times the servomotor's inertia moment maximum (*3) Moment Ratio Speed / Position Detector Attachments Insulation Class 18-bit encoder (Resolution per encoder/servomotor rotation: p/rev) Oil seal Part number would be HA-LP J Class F Structure Totally enclosed ventilated (protection level: IP44) (*4) Environment Mass kg (lb) Cooling Fan Power to 4 C (32 to 14 F) (non-freezing), storage: -15 to 7 C (5 to 158 F) (non-freezing) 8% RH maximum (non-condensing), storage: 9% RH maximum (non-condensing) Elevation / Vibration 1m or less above sea level X: 11.7m/s 2 Y: 29.4m/s 2 1m or less above sea level X: 9.8m/s 2 Y: 9.8m/s 2 Standard 55 (121.2) 95 (29.3) 115 (253.4) 16 (352.5) 18 (396.6) 23 (56.7) 25 (55.8) With Electromagnetic Brake Voltage, Frequency Input (W) Cooling Fan Rated Current (A) 7 (154.2) 13 (29) 15 (335) 1-phase 2 to 22 VAC / 5Hz 1-phase 2 to 23 VAC / 6Hz 42 (5Hz) / 54 (6Hz).21 (5Hz) /.25 (6Hz) 3-phase 38 to 42VAC 5 / 6Hz 3-phase 38 to 46VAC 5 / 6Hz 55 (5Hz) / 75 (6Hz) 65 (5Hz) / 85 (6Hz) 11 (5Hz) / 15 (6Hz).12 (5Hz) /.11 (6Hz).12 (5Hz) /.14 (6Hz).2 (5Hz) /.22 (6Hz) 1. The power facility capacity varies depending on the power supply s impedance. 2. The regenerative braking frequency shows the permissible frequency for decelerating the motor without a load and the optional regeneration unit from the rated speed to a stop. 3. Contact Mitsubishi if the load/motor of inertia moment ratio exceeds the value in the table. 4. The shaft-through portion is excluded. 5. The vibration direction is shown in the right-side diagram. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value. 6. This applies when the GRZG4- Ω regeneration resistors are used as a standard accessory and parameter PA2 is changed with cooling fan (1.m 3 /min, the 92x2 unit) installed. X Y Mitsubishi Electric Automation Servomotors and Amplifiers 135

28 SERVOMOTORS AND AMPLIFIERS MR-J3-A Cables and Connectors (A-Type) HF-MP/HF-KP Series: Encoder cable length 1m or shorter HF-MP/HF-KP Series: Encoder cable length over 1m (*2) (*2) (*3) (*3) 5 (*1) (*1) HF-SP Series HF-SP

29 MR-J3-A Cables and Connectors (A-Type) Mitsubishi Electric Automation Servomotors and Amplifiers 137

30 SERVOMOTORS AND AMPLIFIERS MR-J3-B Cables and Connectors (B-Type) HF-MP/HF-KP Series: Encoder cable length 1m or shorter HF-MP/HF-KP Series: Encoder cable length over 1m (*2) (*3) (*2) 22 (*3) 5 (*1) (*1) HF-SP Series HF-SP

31 MR-J3-B Cables and Connectors (B-Type & RJ6) Mitsubishi Electric Automation Servomotors and Amplifiers 139

32 SERVOMOTORS AND AMPLIFIERS MR-J3-T Cables and Connectors (T-Type) 14

33 MR-J3-T Cables and Connectors (T-Type) Mitsubishi Electric Automation Servomotors and Amplifiers 141

34 SERVOMOTORS AND AMPLIFIERS MR-J3 Cables and Connectors (Refer to Charts on Previous Pages) Item Power Cables for HA-LP, HC-LP, HC-RP, HC-UP and HF-SP Series Motors - A-, B- & T-Type Amplifiers Brake Cables - A-, B- & T-Types 1 2 Standard-Flex, Unshielded Type Cables (Straight type connector only) High-Flex, Shielded Type Cables (Straight type connector only) Standard-Flex, Unshielded Type Cables High-Flex, Shielded Type Cables Motor Model Number HA-LP52 HA-LP72 Cable Number ( = cable length 2, 5, 1, 15, 2, 25, 3 meter) MR-J3HC5S- M MR-J3P7- M Stocked Lengths Protection Level 2M, 5M, 1M, 2M, 3M IP65 HA-LP ALL OTHERS Hard Wired By Customer N/A N/A HC-LP52 HC-LP52B HC-LP12~152 HC-LP12B~152B HC-LP22(B) (*1) HC-LP32(B) (*1) HC-RP13~153 HC-RP13B~153B HC-RP23 HC-RP23B HC-RP353~53 HC-RP353B~53B HC-UP72 HC-UP72B HC-UP152 HC-UP152B HC-UP22(B) (*1) HC-UP352(B)~52(B) (*1) HF-SP51(B)~HF-SP52(4)(B) (*1) HF-SP81(B)~HF-SP12(4)(B) (*1) HF-SP121(B)~HF-SP22(4)(B) (*1) HF-SP152(4)(B) (*1) HF-SP31(B)~HF-SP352(4)(B) (*1) HF-SP52(4)(B) (*1) HF-SP421(B), HF-SP72(4)(B) (*1) HA-LP52 HA-LP72 MR-J3HC1S- M MR-J3HC1SB- M MR-J3HC2S- M MR-J3HC2SB- M MR-J3HC4S- M MR-J3HC5S- M MR-J3HC2S- M MR-J3HC2SB- M MR-J3HC3S- M MR-J3HC3SB- M MR-J3HC5S- M MR-J3HC5SB- M MR-J3HC1S- M MR-J3HC1SB- M MR-J3HC2S- M MR-J3HC2SB- M MR-J3HC4S- M MR-J3HC5S- M MR-J3P1- M MR-J3P2- M MR-J3P4- M MR-J3P3- M MR-J3P5- M MR-J3P6- M MR-J3P7- M MR-J3HC5S-SH- M MR-J3PWS7- M 2M, 5M, 1M, 2M, 3M IP65 2M, 5M, 1M, 2M, 3M IP65 2M, 5M, 1M, 2M, 3M IP65 2M, 5M, 1M, 2M, 3M IP65 IP65 HA-LP ALL OTHERS Hard Wired By Customer N/A N/A HC-LP52 HC-LP52B HC-LP12~152 HC-LP12B~152B HC-LP22(B) (*1) HC-LP32(B) (*1) HC-RP13~153 HC-RP13B~153B HC-RP23 HC-RP23B HC-RP353~53 HC-RP353B~53B HC-UP72 HC-UP72B HC-UP152 HC-UP152B HC-UP22(B) (*1) HC-UP352(B)~52(B) (*1) HF-SP51(B)~HF-SP52(4)(B) (*1) HF-SP81(B)~HF-SP12(4)(B) (*1) HF-SP121(B)~HF-SP22(4)(B) (*1) HF-SP152(4)(B) (*1) HF-SP31(B)~HF-SP352(4)(B) (*1) HF-SP52(4)(B) (*1) HF-SP421(B), HF-SP72(4)(B) (*1) HA-LP ALL (B) SIZES HC-LP22B, 32B HC-UP22B, 352B, 52B MR-J3HC1S-SH- M MR-J3HC1SB-SH- M MR-J3HC2S-SH- M MR-J3HC2SB-SH- M MR-J3HC4S-SH- M MR-J3HC5S-SH- M MR-J3HC2S-SH- M MR-J3HC2SB-SH- M MR-J3HC3S-SH- M MR-J3HC3SB-SH- M MR-J3HC5S-SH- M MR-J3HC5SB-SH- M MR-J3HC1S-SH- M MR-J3HC1SB-SH- M MR-J3HC2S-SH- M MR-J3HC2SB-SH- M MR-J3HC4S-SH- M MR-J3HC5S-SH- M MR-J3PWS1- M MR-J3PWS2- M MR-J3PWS4- M MR-J3PWS3- M MR-J3PWS5- M MR-J3PWS6- M MR-J3PWS7- M IP65 IP65 IP65 IP67 MR-J3HCBKS- M 2M, 5M, 1M, 2M, 3M IP65 HF-SP(4) ALL (B) SIZES MR-J3BK- M 2M, 5M, 1M, 2M, 3M IP67 HA-LP ALL (B) SIZES HC-LP22B, 32B MR-J3HCBKS-SH- M IP65 HC-UP22B, 352B, 52B HF-SP(4) ALL (B) SIZES MR-J3BRKS1- M IP67 Description 1. Must order separate brake cable for these motors. 142

35 MR-J3 Cables and Connectors (Refer to Charts on Previous Pages) Item m or Shorter (Direct Connection Type) Encoder Cable For HF- MP/HF-KP Series Motor Lead Out In Direction Of Motor Shaft Encoder Cable For HF- MP/HF-KP Series Motor Lead Out In Opposite Direction Of Motor Shaft Encoder Cable For HF- MP/HF-KP Series Motor Lead Out In Direction Of Motor Shaft Encoder Cable For HF- MP/HF-KP Series Motor Lead Out In Opposite Direction Of Motor Shaft Model Stocked Lengths Protection Level MR-J3ENCBL M-A1-H ( = cable length 2, 5, 1m) (*1) 2, 5, 1 IP65 MR-J3ENCBL M-A1-L ( = cable length 2, 5, 1m) (*1) IP65 MR-J3ENCBL M-A2-H ( = cable length 2, 5, 1m) (*1) 2, 5, 1 IP65 MR-J3ENCBL M-A2-L ( = cable length 2, 5, 1m) (*1) IP65 MR-J3JCBL3M-A1-L (Cable length.3m) (*1) S IP2 MR-J3JCBL3M-A2-L (Cable length.3m) (*1) S IP2 Encoder Side Encoder Side Description Amplifier Side Junction Connector 7 Exceeding 1m (Relay Type) Amplifier-Side Cable For HF-MP/HF-KP Series Motor MR-EKCBL M-H ( = cable length 2, 3, 4, 5m) (*1) 2, 3 IP2 MR-EKCBL M-L ( = cable length 2, 3m) (*1) IP2 Use this in combination of 5 or 6. Encoder Cable for CN2 A-, B- and T-Type 8 9 Junction Connector, Amplifier-Side Connector (*2) For HF-MP/HF-KP Series Motor Encoder Cable For HF-SP, HC-RP, HC-UP, HC-LP, HA-LP Series Motor MR-ECNM S IP2 MR-J3ENSCBL M-H ( = cable length 2, 5, 1, 2, 3, 4, 5m) (*1) MR-J3ENSCBL M-L ( = cable length 2, 5, 1, 2, 3m) (*1) 2, 5, 1, 2, 3 IP67 IP67 Encoder Side Amplifier Side 1 Encoder Connector Set For HF-SP, HC-RP, HC-UP, HC-LP, HA-LP Series Motor MR-J3SCNS S IP67 11 Battery Connection Relay Cable MR-J3BTCBL3M (Cable length.3m) (*3) S Amplifier Side Junction Connector Motor Power Supply Cables For CNP3 A-, B- and T-Type m Or Shorter (Direct Connection Type Exceeding 1m (Relay Type) Power Supply Cable For HF-MP/ HF-KP Series Motor. Lead Out In Direction Of Motor Shaft Power Supply Cable For HF-MP/ HF-KP Series Motor. Lead Out In Opposite Direction of Motor Shaft Power Supply Cable For HF-MP/HF-KP Series Motor Lead Out In Direction Of Motor Shaft Power Supply Cable For HF-MP/HF-KP Series Motor Lead Out In Opposite Direction Of Motor Shaft MR-PWS1CBL M-A1-H ( = cable length 2, 5, 1m) (*1) 2, 5, 1 IP65 MR-PWS1CBL M-A1-L ( = cable length 2, 5, 1m) (*1) 2, 5, 1 IP65 MR-PWS1CBL M-A2-H ( = cable length 2, 5, 1m) (*1) 2, 5, 1 IP65 MR-PWS1CBL M-A2-L ( = cable length 2, 5, 1m) (*1) 2, 5, 1 IP65 MR-PWS2CBL3M-A1-L (Cable length.3m) (*1) S IP55 MR-PWS2CBL3M-A2-L (Cable length.3m) (*1) S IP55 See page 145. Mitsubishi Electric Automation Servomotors and Amplifiers 143

36 SERVOMOTORS AND AMPLIFIERS MR-J3 Cables and Connectors Item Power Supply Connectors For HF-SP Motors Power Supply Connector For HF-SP51, 81, 16 HF-SP52, 12, 152 Motor See A 1 For Cable Power Supply Connector For HF-SP121, 21, 17 HF-SP22, 352, 52 Motor See 12 For Cable Power Supply Connector For HF-SP72 See 1A 18 For Cable Model Stocked Lengths Protection Level MR-PWCNS4 (Straight type only) S IP67 MR-PWCNS5 (Straight type only) S IP67 MR-PWCNS3 (Straight type only) S IP67 Description Motor Brake Cables A-, B- and T-Type m Or Shorter (Direct Connection Type) Exceeding 1m (Relay Type) Brake Cable For HF-MP/ HF-KP Series Motor Lead Out In Direction Of Motor Shaft Brake Cable For HF-MP/ HF-KP Series Motor Lead Out In Opposite Direction Of Motor Shaft Brake Cable For HF-MP/ HF-KP Series Motor Lead Out In Direction Of Motor Shaft Brake Cable For HF-MP/ HF-KP Series Motor Lead Out In Opposite Direction Of Motor Shaft MR-BKS1CBL M-A1-H ( = cable length 2, 5, 1m) (*1) 2, 5, 1 IP65 MR-BKS1CBL M-A1-L ( = cable length 2, 5, 1m) (*1) IP65 MR-BKS1CBL M-A2-H ( = cable length 2, 5, 1m) (*1) 2, 5, 1 IP65 MR-BKS1CBL M-A2-L ( = cable length 2, 5, 1m) (*1) IP65 MR-BKS2CBL3M-A1-L (Cable length.3m) (*1) S IP55 MR-BKS2CBL3M-A2-L (Cable length.3m) (*1) S IP55 Brake Connector For HF-SP Series Motor 23 Brake Connector For HF-SP Series Motor See B 2 For Cable MR-BKCNS1 (Straight type only) S IP67 For CN3 A- and T-Type Only 24 RS-232 to RS-485 Converter PC to CN3 Cable (3 Meter) SC-FRPC S For CN1 A- and T-D1 Types Only For CN1 - A- and T-D1 Types Only 25 CN1 Connector (5 Pin) MR-J3CN1 26 Junction Terminal Block Cable MR-J2M-CN1TBL M ( = cable length.5, 1m) (For use with MR-TB5 and MR-TB5MIN Junction Terminal Block).5, 1 27 CN1 Pigtail Cable (5 Pin) MR-J3CCN1CBL- M ( = cable length 3, 5m) 3, 5 For CN5 A-, B- & T-Types 28 Personal Computer Communication Cable USB Cable MR-J3USBCBL3M (Cable length 3m) S For CN6 A-Type Only 29 Monitor Cable MR-J3CN6CBL1M (Cable length 1m) S A-Type Only 3 Junction Terminal Block MR-TB5MIN (reduced size width = 145mm (5.71 in)) MR-TB5 (standard size width = 244mm (9.61 in)) S S See next page. 144

37 MR-J3 Cables and Connectors Item Model Stocked Lengths Protection Level Description For Controller, CN1A, CN1B B-Type Only 31 SSCNET III Cable (Standard Cord For Inside Panel) MR-J3BUS M ( = cable length.15,.3,.5, 1, 3m).15,.3,.5, 1, 3 32 SSCNET III Cable (Standard Cable For Outside Panel) MR-J3BUS M-A ( = cable length 5, 1, 2m) 5, 1, 2 33 SSCNET III Cable (Long Distance Cable) MR-J3BUS M-B ( = cable length 3, 4, 5m) 3 34 Connector Set For SSCNET III MR-J3BCN1 For CN1B B-Type Only For CN3 B- and T-D1 Types Only For CN3 B- and T-D1 Types Only For A-, B- and T-Types 35 Connector Cap for SSCNET III Connector comes with amplifier standard 36 CN1 or CN3 Signal Connector (2 Pin) MR-J2CN1 S 37 CN1 or CN3 Pigtail Cable (2 Pin) MR-CCN1CBL- M ( = cable length 3, 5m) 3, 5 38 Power Supply Connector For HC-RP, HC-UP, and HC-LP MR-PWCNS1 S IP65 39 Power Supply Connector For HC-RP, HC-UP, and HC-LP MR-PWCNS2 S IP65 4 Brake Connector For HC-RP, HC-UP, and HC-LP MR-BKCN S IP65 For T-Type Only CN6 Connector (26 Pin) MR-ECN1 S CN6 Pigtail Cable (26 Pin) MR-ECN1CBL-3M S 43 CNP1 Connector 1kW or less (Comes with J3 Amp Standard) CNP1 Connector 2kW 3.5kW (Comes with J3 Amp Standard) S PC4/6-STF-7.62 S For A, B and T-Types CNP2 Connector up to 3.5kW (Comes with J3 Amp Standard) CNP3 Connector 1kW or less (Comes with J3 Amp Standard) CNP3 Connector 2kW 3.5kW (Comes with J3 Amp Standard) S S PC4/3-STF-7.62 S 46 CNP1-2-3 Insertion Tool (Comes with J3 Amp Standard) S For B-Type and D1 Only Pin Terminal B Lock For J3-B (TB2 Cannot be Used) PS7DW-2V14B-F S Cable for PS7DW-2V14B-F Terminal Block MR-J2HBUS M ( = Cable length 5, 1, 3, 5m).5, 1, 3, 5 For A, B, & T- Type For A & B Types For B- RJ6 Type Only For MR- J3-D1 Types For T- Type Only CN2 or CN2L Connector MR-J3CN2 S IP2 CN4 to CN4A cable between Converter and Amp MR-J3CDL5M CN4 to CN4A connector set MR-J2CN1-A CN4B connector MR-J3-TM CN2L Cable MR-EKCBL M-H ( = cable length 2, 5, 1m) 2, 5, 1 IP2 MR-J3-D1 Terminal block to MR-DS6 Cable MR-DSCBL M-G ( = cable length 3, 5, 1m) MR-DS6 to MR-DS6 Cable MR-DSCBL ( = cable length 25, 1cm) Digital Switch to use in junction with the MR-J3-D1 MR-DS6 CN1 CC-Link Replacement connector H and -L indicate bending life. -H indicates a long bending life, and -L indicates a standard. 2. Refer to MR-J3-B SERVO AMPLIFIER INSTRUCTION MANUAL for details on manufacturing the cable. 3. The battery connection junction cable (MR-J3BTCB L3M) has a diode built-in. Do not manufacture this cable. This optional cable must be used. Mitsubishi Electric Automation Servomotors and Amplifiers 145

38 SERVOMOTORS AND AMPLIFIERS MR Configurator (MRZJW3-SETUP221E) This software makes it easy to perform setup, tuning, monitor display, diagnostics, reading and writing of parameters, and test operations with a personal computer. User-satisfying functions that enable the balance with the machine system, optimum control and short start up time are available. 1. This software can set up and tune your servo system easily with a personal computer. 2. Multiple monitor functions Graphic display functions are provided to display the servo motor status with the input signal triggers,such as the command pulse, droop pulse and speed. 3. Test operations with a personal computer Test operation of the servo motors can be performed with a personal computer using multiple test mode menus. 4. Further advanced tuning is possible with the improved advanced functions. Description Model Number Stocked Item Windows Communication Software MR-CONFIGURATOR S (*1) Communication Cable MR-J3USBCBL3M S Manuals Hardware Description Model Number Stk Item MR-J3-A Instruction Manual SH(NA)338 S MR-J3-B Instruction Manual SH(NA)351 S MR-J3-T Instruction Manual SH(NA)358 S MR-J3-T / MR-J3-D1 Instruction Manual SH(NA)361 S Servo Motor Manual Volume 2 SH(NA)341 S Note: Many of these manuals are available for free download from our website, Options Extension I/O Unit Manual Pulse Generator Servo Amplifier Type Model Number Stocked Item Servo Amplifier Type Model Number Stocked Item MR-J3-T Only MR-J3-D1 S MR-J3-T Only MR-HDP1 S I/O Digital Switch 2 Pin Terminal Block (*1) Servo Amplifier Type Model Number Stocked Item Servo Amplifier Type Model Number Stocked Item MR-J3-D1 Only MR-DS6 MR-J3-B Only PS7DW-2V14B-F S RS-422 Distributor (For Multidrop) Servo Amplifier Type Model Number Stocked Item Note: MR-TB2 terminal block cannot be used for MR-J3-B. Heat Sink Mounting Attachment MR-J3-A/B/T BMJ-8 S Servo Amplifier Type Model Number Stocked Item MR-J3-11K to 22KA/B/T Only MR-J3ACN 146

39 Battery Item Number Model Number Description Stk Item Description Battery MR-J3BAT The servo motor s absolute value can be maintained by installing the battery in the servo amplifier. The battery is not required when the servo system is used in an incremental mode. S Battery Connection Relay Cable MR-J3BTCBL3M Use this relay cable to hold the absolute value when shipping the product with the machine and servo amplifier removed. The servo motor HF series does not have a super capacitor (for holding an absolute value for short time) in the encoder. When this optional cable is used, the absolute value can be held even when the encoder cable is disconnected from the servo amplifier, making it easy to do maintenance on the servo amplifier. S Diagnostic Cable Only For MR-J3-A Type MR-J3ACHECK This cable is required when using the amplifier diagnostic function of MR Configurator (Setup software). S CN6 CN1 CN2 Line Noise Filter Servo Amplifier Type Model Number Stocked Item MR-J3-2A/B/T or smaller FR-BSF1 S MR-J3-35A/B/T or larger FR-BLF S EMC Filter Servo Amplifier Type Model Number Stocked Item MR-J3-1A/B/T and less HF31A-UN S MR-J3-2A/B/T ~ 35A/B/T HF33A-UN S MR-J3-5A/B/T ~ 7A/B/T HF34A-UN S MR-J3-11KA/B/T ~ 22KA/B/T HF31A-UN S MR-J3-1A4/B4/T4 and less TF35C-TX MR-J3-2 ~ 7A4/B4/T4 TF32C-TX MR-J3-11KA4/B4/T4 TF33C-TX MR-J3-15KA4/B4/T4 TF34C-TX MR-J3-22KA4/B4/T4 TF36C-TX Brake/Resistor Units (Must be used in conjunction with each other) Servo Amplifier Model Brake Unit Model Number Stk Item Resistor Unit Model Number Stk Item MR-J3-5A/B/T to 7A/B/T FR-BU2-15K S FR-BR-15K-UL S MR-J3-11KA/B/T to 15KA/B/T FR-BU2-3K S FR-BR-3K-UL S MR-J3-22KA/B/T FR-BU2-55K FR-BR-55K-UL MR-J3-5 ~ 7A4/B4/T4 FR-BU2-H15K S FR-BR-H15K-UL S MR-J3-11K ~ 15KA4/B4/T4 FR-BU2-H3K S FR-BR-H3K-UL S MR-J3-22KA4/B4/T4 FR-BU2-H55K FR-BR-H55K-UL S Line Noise Filter Servo Amplifier Type Model Number Stocked Item All 2VAC J3 Models FR-BIF S All 4VAC J3 Models FR-BIF-H External Dynamic Brake Servo Amplifier Type Model Number Stocked Item MR-J3-11KA/B/T DBU-11K MR-J3-15KA/B/T DBU-15K MR-J3-22KA/B/T DBU-22K MR-J3-11KA4/B4/T4 DBU-11K-4 MR-J3-15K ~ 22KA4/B4/T4 DBU-22K-4 S MR-J3-DU3KB ~ DU37KB DBU-37K MR-J3-DU3KB4 ~ DU55KB4 DBU-55K-4 Power Regeneration Converter Servo Amplifier Type Model Number Stocked Item MR-J3-5A/B/T FR-RC-15K MR-J3-7A/B/T ~ 15KA/B/T FR-RC-3K MR-J3-22KA/B/T FR-RC-55K MR-J3-5A4/B4/T4 FR-RC-H15K MR-J3-7 ~ 15KA4/B4/T4 FR-RC-H3K MR-J3-22KA4/B4/T4 FR-RC-H55K Power Regeneration Common Converter/Stand-Alone Reactor (Must be used in conjunction with each other). Up to six servo amplifiers can be connected to one FR-CV, refer to manuals for details. Servo Amplifier Model Common Converter Reactor Model Stk Item Model Number Number Stk Item MR-J3-35A/B/T FR-CV-7.5K FR-CVL-7.5K MR-J3-5A/B/T FR-CV-11K FR-CVL-11K MR-J3-7A/B/T FR-CV-15K FR-CVL-15K MR-J3-11KA/B/T FR-CV-22K FR-CVL-22K MR-J3-15KA/B/T FR-CV-3K FR-CVL-3K FR-CV-37K FR-CVL-37K MR-J3-22KA/B/T FR-CV-55K FR-CVL-55K Mitsubishi Electric Automation Servomotors and Amplifiers 147

40 SERVOMOTORS AND AMPLIFIERS MR-J3 Options (continued) 2VAC Optional Regeneration Resistors Servo Amplifier Model (MR-J3-) Built-in Regenerative Resistor/ Tolerable Regenerative Power (W) Standard Resistors Supplied with Amplifiers GRZG4-1.5ΩX4 (*2).9ΩX4 (*2) 1.5ΩX5 (*2) 32 (4Ω) 12 (4Ω) 3 (13Ω) Optional Regeneration Resistors/Tolerable Regenerative Power (W) 31 (6.7Ω) 32 (4Ω) MR-RB 5 (13Ω) (*1) 51 (6.7Ω)(*1) 5E (6Ω)(*2) 9P (4.5Ω)(*2) 9F (3Ω)(*2) Stocked Item S S S S S S 1A(1)/ B(1)/T(1) 3 2A(1)/B(1)/ T(1) A(1)/B(1)/ T(1) A/B/T A/B/T A/B/T A/B/T A/B/T A/B/T A/B/T KA/B/T 5 (8) 5 (8) 15KA/B/T 85 (13) 85 (13) 22KA/B/T 85 (13) 85 (13) DU3KA/B DU37KA/B (1.3Ω) 137 (1.3Ω)(*3) 4VAC Optional Regeneration Resistors Servo Amplifier Model (MR-J3-) Built-in Regenerative Resistor/ Tolerable Regenerative Power (W) Standard Resistors Supplied with Amplifiers GRZG4-5ΩX4 (*2) 2.5ΩX5 (*2) 2ΩX5 (*2) 1H-4 (4Ω) 3M-4 (12Ω) Optional Regeneration Resistors/Tolerable Regenerative Power (W) 3G-4 (47Ω) 34-4 (26Ω) 5G-4 (47Ω) (*1) MR-RB 54-4 (26Ω)(*1) 6B-4 (2Ω)(*2) 6-4 (12.5Ω)(*2) 6K-4 (1Ω)(*2) Stocked Item S S S S S S 6A4/B4/T A4/B4/T A4/B4/T A4/B4/T A4/B4/T A4/B4/T KA4/B4/T4 5 (8) 5 (8) 15KA4/B4/T4 85 (13) 85 (13) 22KA4/B4/T4 85 (13) 85 (13) DU3KA4/B DU37KA4/B DU45KA4/B DU55KA4/B Be sure to install cooling fans. 2. This applies when the GRZG4- Ω regeneration resistors are used as a standard accessory and parameter PA2 is changed with cooling fan (1.m 3 /min, the 92 x 2 unit) installed. 3. MR-RB137 is three resistance values combined. 4. MR-RB138-4 is three resistance values combined (5Ω) (5Ω) (*4) 148

41 DC Power Improvement Reactor Servo Amplifier Type Model Number Stk Item MR-J3-1 ~ 2A/B/T DCA42 MR-J3-4A/B/T DCA92 MR-J3-6 ~ 7A/B/T MR-J3-1A/B/T DCA122 MR-J3-2A/B/T DCA182 MR-J3-35A/B/T DCA322 MR-J3-5A/B/T DCA51 MR-J3-6A4/B4/T4 DCA42 MR-J3-1A4/B4/T4 DCA93 MR-J3-2A4/B4/T4 MR-J3-35A4/B4/T4 DCA183 MR-J3-5A4/B4/T4 DCA253 MR-J3-7 ~ 11KA/B/T DCA82 MR-J3-15KA/B/T DCA113 MR-J3-22KA/B/T DCA1252 MR-J3-7 ~ 11KA4/B4/T4 DCA322 MR-J3-15KA4/B4/T4 DCA54 MR-J3-22KA4/B4/T4 DCA85 MR-J3-DU3KA/B MR-DCL3K MR-J3-DU37KA/B MR-DCL37K MR-J3-DU3KA4/B4 MR-DCL3K-4 MR-J3-DU37KA4/B4 MR-DCL37K-4 AC Power Factor Improvement Reactor Servo Amplifier Type Model Number Stk Item MR-J3-1A1/B1/T1 MRL-24 MR-J3-1 ~ 2A/B/T MR-J3-2A1/B1/T1 MRL-41 MR-J3-4A/B/T MR-J3-4A1/B1/T1 MRL-81 MR-J3-6 ~ 7A/B/T MR-J3-1A/B/T MRL-121 MR-J3-2A/B/T MRL-181 S MR-J3-35A/B/T MRL-351 MR-J3-5A/B/T MRL-451 MR-J3-7 ~ 11KA/B/T MRL-551 MR-J3-15KA/B/T MRL-81 MR-J3-22KA/B/T MRL-11 MR-J3-6A4/B4/T4 MRL-42 S MR-J3-1A4/B4/T4 MR-J3-2A4/B4/T4 MRL-82 S MR-J3-35A4/B4/T4 MRL-182 S MR-J3-5A4/B4/T4 MRL-252 S MR-J3-7 ~ 11KA4/B4/T4 MRL-352 S MR-J3-15KA4/B4/T4 MRL-452 S MR-J3-22KA4/B4/T4 MRL-552 MR-J3-DU45KA4/B4 MR-DCL45K-4 MR-J3-DU55KA4/B4 MR-DCL55K-4 MR-J3 Motor Shaft Details HF-KP / HF-MP Series D-Cut Shaft (5W & 1W Motors Only) Keyway With Key Included Motor Model HF-KP_K HF-MP_K Capacity (W) 2, 4 75 Variable Dimensions T S R Q W QK QL U Y 5 (.2) 6 (.24) 14h6 (.554) 19h6 (.748) 3 (1.18) 4 (1.57) 27 (1.6) 37 (1.46) 5 (.2) 6 (.24) 2 (.79) 25 (.98) 3 (.12) 5 (.2) 3 (.12) 3.5 (.14) M4 Depth 15 (.59) M5 Depth 2 (.79) Mitsubishi Electric Automation Servomotors and Amplifiers 149

42 SERVOMOTORS AND AMPLIFIERS HF-SP / HC-LP / HC-RP/ HC-UP / HA-LP Series Keyway With No Key Supplied (Customer must supply key or order key part separately below) Motor Model HF-SP_K HC-LP_K HC-RP_K HC-UP_K Capacity (kw).5~1.5 2.~7. 1., 1.5, , , 3.5, 5. Variable Dimensions mm (in) S R Q W QK QL U r Y 24h6N ( ) h6NN +.4 (1.378 ) 24h6N ( ) 28h6N ( ) 22h6N ( ) 28h6N ( ) 35N (1.378 ) 55 (2.17) 79 (3.11) 45 (1.77) 63 (2.48) 55 (2.17) 55 (2.17) 65 (2.56) 5 (1.91) 75 (2.95) 4 (1.57) 58 (2.28) 5 (1.97) 5 (1.97) 6 (2.36) 8N -.36 ( ) 1N -.36 ( ) 8N -.36 ( ) 8N -.36 ( ) 6N -.36 ( ) 8N -.36 ( ) 1N -.36 ( ) 36 (1.42) 55 (2.17) 25 (.98) 53 (2.9) 42 (1.65) 53 (2.9) 5 (1.97) 5N (.2) 5N (.2) 5N (.2) 3N (.12) 3N (.12) 3N (.12) 5N (.2) +.2 4N 4 (.16) ( ) Fig. Key Dimensions Key Model Number Stocked Item 8x7x28 MTR KEY S +.2 5N ( ) 5 (.2) 1x8x45 MTR KEY S +.2 4N ( ) +.2 4N ( ) 4 (.16) 8x7x16 MTR KEY S 4 (.16) M8 Depth 2 A (.79) 8x7x45 MTR KEY S N ( ) 3 (.12) 6x6x36 MTR KEY S +.2 4N ( ) 4 (.16) 8x7x36 MTR KEY S +.2 5N ( ) 5 (.2) 1x8x45 MTR KEY S Keyway With No Key Supplied (Customer must supply key) Motor Model (HA-LP_K) Variable Dimensions mm (in) S R Q W QK QL U r Y Fig. Key Model Number 61, 614, 71M, 71M4, 52, 72, 11K2, 11K24 42h6 ( ) 85 (3.35) 8 (3.15) 12N -.4 (.47 ) (2.76) 5 (.2) 5N (.2 ) 6 (.24) A 81, 12K1, 814, 12K14, 11K1M, 15K1M, 11K1M4, 15K1M4, 15K2, 22K2, 15K24, 22K24 15K1, 2K1, 15K14, 2K14, 22K1M, 3K1M, 22K1M4, 3K1M4, 3K2, 37K2, 3K24, 37K24 55m ( ) 6m ( ) 11 (4.33) 14 (5.51) 1 (3.94) 14 (5.51) 16 N -.4 (.63 ) N -.4 ( ) 9 (3.54) 128 (5.4) 5 (.2) 6 (.24) 6N (.24 ) 7N (.28 ) 8 (.31) 9 (.35) Same as Standard motor s straight shaft. B (N/A) Key to be supplied by customer. 25K1, 3K1, 25K14, 3K14, 37K1M, 37K1M4, 45K1M4, 45K24, 55K24 65m ( ) (5.51) 14 (5.51) 18N -.4 ( ) 128 (5.4) 6 (.24) 7N (.28 ) 9 (.35) 37K1, 37K14, 5K1M4 8m6 ( ) 17 (6.69) 17 (6.69) 22N -.4 (.87 ) (5.79) 11 (.43) 9N (.35 ) 11 (.43) Note: Not all key sizes are available to order from MEAU. If a key part is not listed, customer must supply. 15

43 MR-J3 Dimensions HF-KP / HF-MP Series Mitsubishi Electric Automation Servomotors and Amplifiers 151

44 SERVOMOTORS AND AMPLIFIERS MR-J3 Dimensions HF-SP Series HC-LP Series 152

45 MR-J3 Motor Dimensions HC-RP Series Mitsubishi Electric Automation Servomotors and Amplifiers 153

46 SERVOMOTORS AND AMPLIFIERS MR-J3 Motor Dimensions HC-UP Series HA-LP Series 154

47 MR-J3 Motor Dimensions HA-LP61(B), HA-LP614(B), HA-71M(B), HA-LP71M4(B), HA-LP11K2(B), HA-LP11K24(B) Model Variable Dimensions 1r/min 15r/min 2r/min L KL LT HA-LP81(B) HA-LP814(B) HA-LP11K1M(B) HA-LP11K1M4(B) HA-LP15K2(B) HA-LP15K24(B) 495 (61) 454 (565) 289 (4) HA-LP12K1(B) HA-LP12K14(B) HA-LP15K1M(B) HA-LP15K1M4(B) HA-LP22K2(B) HA-LP22K24(B) 555 (67) 511 (622) 346 (457) Mitsubishi Electric Automation Servomotors and Amplifiers 155

48 SERVOMOTORS AND AMPLIFIERS MR-J3 Motor Dimensions Model Variable Dimensions 1r/min 15r/min 2r/min L KL LT FA FB HA-LP15K1, HA-LP15K14 HA-LP22K1M, HA-LP22K1M4 HA-LP3K HA-LP2K1, HA-LP2K14 HA-LP3K1M4 HA-LP37K Model Variable Dimensions 1r/min 15r/min 2r/min L KL LT FA FB HA-LP25K1, HA-LP25K14 HA-LP37K1M, HA-LP37K1M4 HA-LP45K HA-LP3K1, HA-LP3K14 HA-LP45K1M4 HA-LP55K

49 MR-J3 Motor Dimensions Model Variable Dimensions 15r/min 2r/min L KL LT FA FB HA-LP3K HA-LP3K1M HA-LP37K Mitsubishi Electric Automation Servomotors and Amplifiers 157